IECE Transactions on Intelligent Unmanned Systems | Volume 1, Issue 1: 31-43, 2024 | DOI:10.62762/TIUS.2024.557673
Abstract
This paper explores the effectiveness of Model Predictive Control (MPC) for trajectory tracking in autonomous deep-sea tracked mining vehicles operating within polymetallic nodule mining environments, considering model uncertainties and external disturbances. Traditional applications of MPC in autonomous vehicle trajectory tracking, which typically rely on kinematic models under minimal external disturbance, often fail when faced with model inaccuracies and external disruptions. To address these challenges, we propose an MPC-based trajectory tracking algorithm that includes a speed correction controller for the drive wheel. This controller, developed through experimental data fitting, aims t... More >
Graphical Abstract
