Sensor-based motion control of autonomous underwater vehicles, part I: Modeling and low-complexity state estimation

George C. Karras, Charalampos P. Bechlioulis, Panos Marantos, Shahab Heshmati-alamdari, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

The goal of this chapter is to provide the reader with the appropriate analytical methods, in order to derive a simple yet accurate vehicle model, design a state estimation algorithm that could be easily integrated into the embedded system framework of an underwater robotic vehicle and perform a fast online dynamic parameter identification.

Original languageEnglish (US)
Title of host publicationAutonomous Underwater Vehicles
PublisherInstitution of Engineering and Technology
Pages15-43
Number of pages29
ISBN (Electronic)9781785617034
DOIs
StatePublished - Jan 1 2020

Keywords

  • Autonomous underwater vehicles
  • Autonomous underwater vehicles
  • Embedded system
  • Fast online dynamic parameter identification
  • Low-complexity state estimation
  • Marine system control
  • Mobile robots
  • Mobile robots
  • Sensor-based motion control
  • Simulation, modelling and identification
  • State estimation
  • State estimation
  • Telerobotics
  • Underwater robotic vehicle
  • Vehicle model

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint

Dive into the research topics of 'Sensor-based motion control of autonomous underwater vehicles, part I: Modeling and low-complexity state estimation'. Together they form a unique fingerprint.

Cite this