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Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control

The attainment of accurate motion control for robotic fish inside intricate underwater environments continues to be a substantial obstacle within the realm of underwater robotics. This paper presents a proposed algorithm for trajectory tracking and obstacle avoidance planning in robotic fish, utiliz...

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Detalles Bibliográficos
Autores principales: Wang, Ruilong, Wang, Ming, Zhang, Yiyang, Zhao, Qianchuan, Zheng, Xuehan, Gao, He
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10668960/
https://www.ncbi.nlm.nih.gov/pubmed/37999170
http://dx.doi.org/10.3390/biomimetics8070529
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author Wang, Ruilong
Wang, Ming
Zhang, Yiyang
Zhao, Qianchuan
Zheng, Xuehan
Gao, He
author_facet Wang, Ruilong
Wang, Ming
Zhang, Yiyang
Zhao, Qianchuan
Zheng, Xuehan
Gao, He
author_sort Wang, Ruilong
collection PubMed
description The attainment of accurate motion control for robotic fish inside intricate underwater environments continues to be a substantial obstacle within the realm of underwater robotics. This paper presents a proposed algorithm for trajectory tracking and obstacle avoidance planning in robotic fish, utilizing nonlinear model predictive control (NMPC). This methodology facilitates the implementation of optimization-based control in real-time, utilizing the present state and environmental data to effectively regulate the movements of the robotic fish with a high degree of agility. To begin with, a dynamic model of the robotic fish, incorporating accelerations, is formulated inside the framework of the world coordinate system. The last step involves providing a detailed explanation of the NMPC algorithm and developing obstacle avoidance and objective functions for the fish in water. This will enable the design of an NMPC controller that incorporates control restrictions. In order to assess the efficacy of the proposed approach, a comparative analysis is conducted between the NMPC algorithm and the pure pursuit (PP) algorithm in terms of trajectory tracking. This comparison serves to affirm the accuracy of the NMPC algorithm in effectively tracking trajectories. Moreover, a comparative analysis between the NMPC algorithm and the dynamic window approach (DWA) method in the context of obstacle avoidance planning highlights the superior resilience of the NMPC algorithm in this domain. The proposed strategy, which utilizes NMPC, demonstrates a viable alternative for achieving precise trajectory tracking and efficient obstacle avoidance planning in the context of robotic fish motion control within intricate surroundings. This method exhibits considerable potential for practical implementation and future application.
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spelling pubmed-106689602023-11-06 Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control Wang, Ruilong Wang, Ming Zhang, Yiyang Zhao, Qianchuan Zheng, Xuehan Gao, He Biomimetics (Basel) Article The attainment of accurate motion control for robotic fish inside intricate underwater environments continues to be a substantial obstacle within the realm of underwater robotics. This paper presents a proposed algorithm for trajectory tracking and obstacle avoidance planning in robotic fish, utilizing nonlinear model predictive control (NMPC). This methodology facilitates the implementation of optimization-based control in real-time, utilizing the present state and environmental data to effectively regulate the movements of the robotic fish with a high degree of agility. To begin with, a dynamic model of the robotic fish, incorporating accelerations, is formulated inside the framework of the world coordinate system. The last step involves providing a detailed explanation of the NMPC algorithm and developing obstacle avoidance and objective functions for the fish in water. This will enable the design of an NMPC controller that incorporates control restrictions. In order to assess the efficacy of the proposed approach, a comparative analysis is conducted between the NMPC algorithm and the pure pursuit (PP) algorithm in terms of trajectory tracking. This comparison serves to affirm the accuracy of the NMPC algorithm in effectively tracking trajectories. Moreover, a comparative analysis between the NMPC algorithm and the dynamic window approach (DWA) method in the context of obstacle avoidance planning highlights the superior resilience of the NMPC algorithm in this domain. The proposed strategy, which utilizes NMPC, demonstrates a viable alternative for achieving precise trajectory tracking and efficient obstacle avoidance planning in the context of robotic fish motion control within intricate surroundings. This method exhibits considerable potential for practical implementation and future application. MDPI 2023-11-06 /pmc/articles/PMC10668960/ /pubmed/37999170 http://dx.doi.org/10.3390/biomimetics8070529 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Wang, Ruilong
Wang, Ming
Zhang, Yiyang
Zhao, Qianchuan
Zheng, Xuehan
Gao, He
Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control
title Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control
title_full Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control
title_fullStr Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control
title_full_unstemmed Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control
title_short Trajectory Tracking and Obstacle Avoidance of Robotic Fish Based on Nonlinear Model Predictive Control
title_sort trajectory tracking and obstacle avoidance of robotic fish based on nonlinear model predictive control
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10668960/
https://www.ncbi.nlm.nih.gov/pubmed/37999170
http://dx.doi.org/10.3390/biomimetics8070529
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