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Optimization of Trajectory Generation and Tracking Control Method for Autonomous Underwater Docking

This study proposes a receding horizon optimization-based docking control method to address the autonomy and safety challenge of underwater docking between manned submersibles and unmanned vehicles, facilitating the integration of docking trajectory generation and tracking control. A novel approach...

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Principais autores: Tian Ni, Can Sima, Shaobin Li, Lindan Zhang, Haibo Wu, Jia Guo
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2024-08-01
Serier:Journal of Marine Science and Engineering
Fag:
autonomous docking control
trajectory generation
trajectory tracking control
model predictive control
Online adgang:https://www.mdpi.com/2077-1312/12/8/1349
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