Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System
文献类型：期刊论文
| 作者 | He, Yanbing1; Dong, Xiang1; Wang, Yu2 ; Wang, Shuo2
|
| 刊名 | SENSORS
 |
| 出版日期 | 2023-08-01 |
| 卷号 | 23期号:16页码:15 |
| 关键词 | underwater biomimetic vehicle-manipulator system nonlinear model predictive control extended state observers (ESOs) collision avoidance path following |
| DOI | 10.3390/s23167061 |
| 通讯作者 | Dong, Xiang(xdong@ahu.edu.cn) |
| 英文摘要 | 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. |
| WOS关键词 | STATE OBSERVER |
| 资助项目 | 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 |
| 语种 | 英语 |
| 出版者 | MDPI |
| WOS记录号 | WOS:001056274000001 |
| 资助机构 | Special thanks to the Institute of Automation, Chinese Academy of Sciences, for providing the experimental site. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54098]  |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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