A Nonlinear Model Predictive Control for an AUV to Track and Estimate a Moving Target Using Range Measurements

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2017

Autores

Jain, RP (Autor) Outra; Alessandretti, A (Autor) Outra; Aguiar, AP (Autor) FEUP; de Sousa, JB (Autor) Outra

Ata de Conferência Internacional

Título: ROBOT 2017: Third Iberian Robotics Conference - Volume 1, Seville, Spain, November 22-24, 2017

Páginas: 161-170

Indexação

Scopus - 4 Citações

Outras Informações

ID Authenticus: P-00N-82A

DOI: 10.1007/978-3-319-70833-1_14

Abstract (EN): In this paper, we propose a Nonlinear Model Predictive Control (NMPC) approach that is employed by an Autonomous Underwater Vehicle (AUV) to track and estimate a moving target using range measurements. Due to the nonlinearities in the observation model associated with range-only measurements, there exist state and input trajectories of the AUV that makes the position of the target unobservable. To address this problem, a standard stabilizing NMPC based approach augmented with an economic cost function is utilized to steer the system through highly observable trajectories in order to guarantee a good estimate of the position of the target. The efficacy of the proposed solution is demonstrated through simulations. © Springer International Publishing AG 2018.

Idioma: Inglês

Tipo (Avaliação Docente): Científica