Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles
This study introduces a hybrid control structure called Improved Interfered Fluid Dynamic System Nonlinear Model Predictive Control (IIFDS-NMPC) for the path planning and trajectory tracking of autonomous underwater vehicles (AUVs). The system consists of two layers; the upper layer utilizes the Imp...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/10/2014 |
| _version_ | 1797573314699329536 |
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| author | Jiqing Du Dan Zhou Sachiyo Arai |
| author_facet | Jiqing Du Dan Zhou Sachiyo Arai |
| author_sort | Jiqing Du |
| collection | DOAJ |
| description | This study introduces a hybrid control structure called Improved Interfered Fluid Dynamic System Nonlinear Model Predictive Control (IIFDS-NMPC) for the path planning and trajectory tracking of autonomous underwater vehicles (AUVs). The system consists of two layers; the upper layer utilizes the Improved Interfered Fluid Dynamic System (IIFDS) for path planning, while the lower layer employs Nonlinear Model Predictive Control (NMPC) for trajectory tracking. Extensive simulation experiments are conducted to determine optimal parameters for both static and dynamic obstacle scenarios. Additionally, real-world testing is performed using the BlueRov2 platform, incorporating multiple dynamic and static obstacles. The proposed approach achieves real-time control at a frequency of 100 Hz and exhibits impressive path tracking accuracy, with a root mean square (RMS) of 0.02 m. This research provides a valuable framework for navigation and control in practical applications. |
| first_indexed | 2024-03-10T21:09:03Z |
| format | Article |
| id | doaj.art-9b5d19e1e828498aab333808bdc040fe |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T21:09:03Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-9b5d19e1e828498aab333808bdc040fe2023-11-19T16:59:54ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-10-011110201410.3390/jmse11102014Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater VehiclesJiqing Du0Dan Zhou1Sachiyo Arai2Graduate School of Science and Engineering, Chiba University, Chiba 263-8522, JapanGraduate School of Science and Engineering, Chiba University, Chiba 263-8522, JapanGraduate School of Science and Engineering, Chiba University, Chiba 263-8522, JapanThis study introduces a hybrid control structure called Improved Interfered Fluid Dynamic System Nonlinear Model Predictive Control (IIFDS-NMPC) for the path planning and trajectory tracking of autonomous underwater vehicles (AUVs). The system consists of two layers; the upper layer utilizes the Improved Interfered Fluid Dynamic System (IIFDS) for path planning, while the lower layer employs Nonlinear Model Predictive Control (NMPC) for trajectory tracking. Extensive simulation experiments are conducted to determine optimal parameters for both static and dynamic obstacle scenarios. Additionally, real-world testing is performed using the BlueRov2 platform, incorporating multiple dynamic and static obstacles. The proposed approach achieves real-time control at a frequency of 100 Hz and exhibits impressive path tracking accuracy, with a root mean square (RMS) of 0.02 m. This research provides a valuable framework for navigation and control in practical applications.https://www.mdpi.com/2077-1312/11/10/2014autonomous underwater vehicleshybrid layerIIFDSNMPCnavigation and control |
| spellingShingle | Jiqing Du Dan Zhou Sachiyo Arai Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles Journal of Marine Science and Engineering autonomous underwater vehicles hybrid layer IIFDS NMPC navigation and control |
| title | Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles |
| title_full | Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles |
| title_fullStr | Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles |
| title_full_unstemmed | Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles |
| title_short | Hybrid Layer of Improved Interfered Fluid Dynamic System and Nonlinear Model Predictive Control for Navigation and Control of Autonomous Underwater Vehicles |
| title_sort | hybrid layer of improved interfered fluid dynamic system and nonlinear model predictive control for navigation and control of autonomous underwater vehicles |
| topic | autonomous underwater vehicles hybrid layer IIFDS NMPC navigation and control |
| url | https://www.mdpi.com/2077-1312/11/10/2014 |
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