A Self-triggered Position Based Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles

A Self-triggered Position Based Visual Servoing Model Predictive Control Scheme for Underwater Robotic Vehicles

An efficient position based visual sevroing control approach for Autonomous Underwater Vehicles (AUVs) by employing Non-linear Model Predictive Control (N-MPC) is designed and presented in this work. In the proposed scheme, a mechanism is incorporated within the vision-based controller that determin...

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Bibliographic Details
Main Authors: Shahab Heshmati-alamdari, Alina Eqtami, George C. Karras, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos
Format: Article
Language:English
Published: MDPI AG 2020-06-01
Series:Machines
Subjects:
autonomous underwater vehicle
marine robotics
visual servoing
self triggered control
Online Access:https://www.mdpi.com/2075-1702/8/2/33

Internet

https://www.mdpi.com/2075-1702/8/2/33

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