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Research on Trajectory Tracking Control Method for Wheeled Robots Based on Seabed Soft Slopes on GPSO-MPC

With advances in underwater exploration and intelligent ocean technologies, wheeled underwater mobile robots are increasingly used for seabed surveying, engineering, and environmental monitoring. However, complex terrains centered on seabed soft slopes—characterized by wheel slippage due to soil def...

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Principais autores: Dewei Li, Zizhong Zheng, Zhongjun Ding, Jichao Yang, Lei Yang
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2025-08-01
Serier:Sensors
Fag:
model predictive control
grey wolf optimizer
particle swarm optimization
wheeled mobile robot
trajectory tracking
Online adgang:https://www.mdpi.com/1424-8220/25/16/4882
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