Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

doi:10.3390/s23167061

	Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System
	He, Yanbing 1; Dong, Xiang 1; Wang, Yu2 ; Wang, Shuo2
发表期刊	SENSORS
	2023-08-01
卷号	23 期号:16 页码:15
通讯作者	Dong, Xiang(xdong@ahu.edu.cn)
摘要	This paper addresses the problem of path following and dynamic obstacle avoidance for an underwater biomimetic vehicle-manipulator system (UBVMS). Firstly, the general kinematic and dynamic models of underwater vehicles are presented; then, a nonlinear model predictive control (NMPC) scheme is employed to track a reference path and collision avoidance simultaneously. Moreover, to minimize the tracking error and for a higher degree of robustness, improved extended state observers are used to estimate model uncertainties and disturbances to be fed into the NMPC prediction model. On top of this, the proposed method also considers the uncertainty of the state estimator, while combining a priori estimation of the Kalman filter to reasonably predict the position of dynamic obstacles during short periods. Finally, simulations and experimental results are carried out to assess the validity of the proposed method in case of disturbances and constraints.
关键词	underwater biomimetic vehicle-manipulator system nonlinear model predictive control extended state observers (ESOs) collision avoidance path following
DOI	10.3390/s23167061
关键词[WOS]	STATE OBSERVER
收录类别	SCI
语种	英语
资助项目	Special thanks to the Institute of Automation, Chinese Academy of Sciences, for providing the experimental site.
项目资助者	Special thanks to the Institute of Automation, Chinese Academy of Sciences, for providing the experimental site.
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:001056274000001
出版者	MDPI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/54099
专题	多模态人工智能系统全国重点实验室
通讯作者	Dong, Xiang
作者单位	1.Anhui Univ, Sch Elect Engn & Automat, Hefei 230601, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	He, Yanbing,Dong, Xiang,Wang, Yu,et al. Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System[J]. SENSORS,2023,23(16):15.
APA	He, Yanbing,Dong, Xiang,Wang, Yu,&Wang, Shuo.(2023).Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System.SENSORS,23(16),15.
MLA	He, Yanbing,et al."Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System".SENSORS 23.16(2023):15.