Complete SE[superscript 3] underwater robot control with arbitrary thruster configurations
e present a control algorithm for autonomous underwater robots with modular thruster configuration. The algorithm can handle arbitrary thruster configurations. It maintains the robot's desired attitude while solving for translational motion. The attitude can be arbitrarily chosen from the speci...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers
2011
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| Online Access: | http://hdl.handle.net/1721.1/67312 https://orcid.org/0000-0001-5473-3566 |