Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control

Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control

The attainment of accurate motion control for robotic fish inside intricate underwater environments continues to be a substantial obstacle within the realm of underwater robotics. This paper presents a proposed algorithm for trajectory tracking and obstacle avoidance planning in robotic fish, utiliz...

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Bibliographic Details
Main Authors: Ruilong Wang, Ming Wang, Yiyang Zhang, Qianchuan Zhao, Xuehan Zheng, He Gao
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Biomimetics
Subjects:
robotic fish
NMPC
trajectory tracking
obstacle avoidance
DWA
Online Access:https://www.mdpi.com/2313-7673/8/7/529

Internet

https://www.mdpi.com/2313-7673/8/7/529

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