Design of an Underwater Vehicle With Orientation-Adjustable Thrusters and Adaptive Tracking Control
Design of an Underwater Vehicle With Orientation-Adjustable Thrusters and Adaptive Tracking Control
This paper presents an orientation-adjustable thruster unmanned underwater vehicle (OAT-UUV) capable of full six-degree-of-freedom motion. It introduces a vision-based tracking control system using a novel feedforward adaptive model predictive controller (FF-AMPC) to handle uncertain parameters and environmental disturbances. Experiments in real-world environments show that the propulsion design significantly enhances maneuverability, while the FF-AMPC achieves a 49.1% improvement in hovering performance compared to conventional controllers.
The study reports experimental results on an underwater vehicle with orientation-adjustable thrusters and a vision-based adaptive controller, demonstrating improved maneuverability and a 49.1% hovering improvement over a conventional controller in real-world tests.
Source: arXiv Robotics — research abstracts · Read original article ↗
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tests in real-world environment, have been conducted. The obtained results demonstrate that the orientation-adjustable propulsion design significantly improves the underwater maneuverability, while the FF-AMPC controller achieves a 49.1% hovering improvement compared to conventional controller.
Open source S4
arXiv:2503.19288v2 Announce Type: replace Abstract: Unmanned underwater vehicles (UUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex and dynamic underwater environments. This paper presents an orientation-adjustable thruster UUV (OAT-UUV) with vector thrusters, enabling full six-degree-of-freedom (6-DOF) motion. and composite m
Open source S2
Source：arXiv Robotics — research abstracts · arxiv.org