In this paper, a model predictive control (MPC)-based solution is proposed for the trajectory tracking problem of a planar operating ROV in a narrow space. Firstly, the trajectory tracking problem is transformed into an optimization problem by establishing the dynamics model and kinematics model of the ROV; then, the MPC method is used to optimize the solution at each time step based on the current state and the model prediction of the robot motion in the future period, in order to achieve the optimal trajectory tracking effect. Finally, the effectiveness and feasibility of the proposed method are verified by numerical simulation experiments.


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    Title :

    An operational Remote Operated Vehicle trajectory tracking study


    Contributors:
    Song, Ning (author) / Ren, Tao (author)


    Publication date :

    2023-07-21


    Size :

    613624 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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