Motion planning for an autonomous Underwater Vehicle via Sampling Based Model Predictive Control

@article{Caldwell2010MotionPF,
  title={Motion planning for an autonomous Underwater Vehicle via Sampling Based Model Predictive Control},
  author={C V Caldwell and Damion D. Dunlap and E G Collins},
  journal={OCEANS 2010 MTS/IEEE SEATTLE},
  year={2010},
  pages={1-6}
}
Unmanned Underwater Vehicles (UUVs) can be utilized to perform difficult tasks in cluttered environments such as harbor and port protection. However, since UUVs have nonlinear and highly coupled dynamics, motion planning and control can be difficult when completing complex tasks. Introducing models into the motion planning process can produce paths the vehicle can feasibly traverse. As a result, Sampling-Based Model Predictive Control (SBMPC) is proposed to simultaneously generate control… CONTINUE READING
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