A low computation-cost locomotion control for underwater snake robot based on Monte Carlo model predictive control and curvature derivative control

IF 1.4 4区计算机科学 Q4 ROBOTICS

Advanced Robotics Pub Date : 2024-04-16 DOI:10.1080/01691864.2024.2340546

Yiping Qiu, Hisashi Date

引用次数: 0

Abstract

This work studies the application of a sample-based model Monte Carlo Model Predictive Control (MCMPC) to address discontinuous events, such as collisions. The inclusion of contact dynamics in the ...

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基于蒙特卡洛模型预测控制和曲率导数控制的水下蛇形机器人低计算成本运动控制系统

这项工作研究了基于样本模型的蒙特卡洛模型预测控制（MCMPC）在处理碰撞等不连续事件中的应用。将接触动力学纳入模型预测控制中，可提高模型预测控制的准确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advanced Robotics 工程技术-机器人学

CiteScore

4.10

自引率

20.00%

发文量

102

审稿时长

5.3 months

期刊介绍： Advanced Robotics (AR) is the international journal of the Robotics Society of Japan and has a history of more than twenty years. It is an interdisciplinary journal which integrates publication of all aspects of research on robotics science and technology. Advanced Robotics publishes original research papers and survey papers from all over the world. Issues contain papers on analysis, theory, design, development, implementation and use of robots and robot technology. The journal covers both fundamental robotics and robotics related to applied fields such as service robotics, field robotics, medical robotics, rescue robotics, space robotics, underwater robotics, agriculture robotics, industrial robotics, and robots in emerging fields. It also covers aspects of social and managerial analysis and policy regarding robots. Advanced Robotics (AR) is an international, ranked, peer-reviewed journal which publishes original research contributions to scientific knowledge. All manuscript submissions are subject to initial appraisal by the Editor, and, if found suitable for further consideration, to peer review by independent, anonymous expert referees.