Safe and Optimal Motion Planning for Autonomous Underwater Vehicles: A Robust Model Predictive Control Framework Integrating Fast Marching Time Objectives and Adaptive Control Barrier Functions
Autonomous Underwater Vehicles (AUVs) have shown significant promise across various underwater applications, yet face challenges in dynamic environments due to the limitations of traditional motion planning methods while Artificial Potential Field (APF)-based control barrier functions focus solely o...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/9/4/273 |
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