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Application of Model Predictive Control to reconfigurable propulsion AUVs for task-based adaptation: Learning Autonomous Mobility of Underwater Robots for Renewable Energies (PhD Thesis)

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Titel: Application of Model Predictive Control to reconfigurable propulsion AUVs for task-based adaptation: Learning Autonomous Mobility of Underwater Robots for Renewable Energies (PhD Thesis)
Autoren: Noe, Yannick, Sina, Enrik, Chocron, Olivier, Henaff, Patrick, Kermorgant, Olivier
Weitere Verfasser: Noé, Yannick
Verlagsinformationen: 2025.
Publikationsjahr: 2025
Schlagwörter: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Underwater robotics, MPC Model-based Predictive Control
Beschreibung: Autonomous underwater robots (AUVs) offer a promising solution for the inspection and maintenance of marine renewable energies, but the complexity of marine environments imposes meaningful challenges in terms of mobility, control, navigation and the performance of complex tasks operations. The proposed solution is to create a robot with reconfigurable thrusters patterns that would enable it to move in all 6 degrees of freedom, albeit not simultaneously, while keeping the number of thrusters below the usual required 6. This increased mobility require advanced control schemes and this work focuses on the application of model predictive control (MPC) method as proof of concept for reconfigurable AUVs controllability during task-based propulsion adaptation.
Publikationsart: Conference object
Sprache: English
Zugangs-URL: https://hal.science/hal-05097740v1
Dokumentencode: edsair.od......4596..d88aa061220197477e01e94ed551a0fc
Datenbank: OpenAIRE
Beschreibung
Abstract:Autonomous underwater robots (AUVs) offer a promising solution for the inspection and maintenance of marine renewable energies, but the complexity of marine environments imposes meaningful challenges in terms of mobility, control, navigation and the performance of complex tasks operations. The proposed solution is to create a robot with reconfigurable thrusters patterns that would enable it to move in all 6 degrees of freedom, albeit not simultaneously, while keeping the number of thrusters below the usual required 6. This increased mobility require advanced control schemes and this work focuses on the application of model predictive control (MPC) method as proof of concept for reconfigurable AUVs controllability during task-based propulsion adaptation.