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Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

This paper addresses the problem of path following and dynamic obstacle avoidance for an underwater biomimetic vehicle-manipulator system (UBVMS). Firstly, the general kinematic and dynamic models of underwater vehicles are presented; then, a nonlinear model predictive control (NMPC) scheme is emplo...

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Detalles Bibliográficos
Autores principales:	He, Yanbing, Dong, Xiang, Wang, Yu, Wang, Shuo
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	MDPI 2023
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10459250/ https://www.ncbi.nlm.nih.gov/pubmed/37631598 http://dx.doi.org/10.3390/s23167061

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