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New Concept Underwater Robot: Design, Optimization, and Applications

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: closed (31 October 2023) | Viewed by 1581

Special Issue Editors

College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
Interests: underwater robot; intelligent robotic systems

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Guest Editor
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
Interests: underwater robot; bio-inspired robot
Special Issues, Collections and Topics in MDPI journals

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Guest Editor
School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China
Interests: robotic and intelligent systems; dynamics and controls

Special Issue Information

Dear Colleagues,

With the development of marine scientific research, marine resource development, and marine environmental protection, the demand for underwater robots has changed from the full coverage of the ocean to more refined, complex and diverse requirements. At the same time, with the development of technologies, such as robot configuration design, environmental perception, and intelligent control, various new concepts for underwater robots have emerged, such as jobs that cannot or are not easily performed by robots. How to improve the ability of new-concept underwater robots to interact with nature and operate autonomously in the future requires continuous research and exploration of new-concept underwater robot technology. The Special Issue topics include, but are not limited to:

  • Application of bionic technology in underwater robots;
  • Water–air/water–land cross-media robot;
  • Agile underwater robot;
  • Underwater inspection robot for marine structures;
  • Multi-robot system and distributed new concept underwater robot;
  • Application of new configuration, new drive and new material in the field of underwater robots;
  • Related content of new concept underwater robot.

Dr. Gang Wang
Dr. Huiming Xing
Prof. Dr. He Shen
Guest Editors

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Published Papers (1 paper)

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Research

29 pages, 3061 KiB  
Article
Design and Implementation of a Model Predictive Formation Tracking Control System for Underwater Multiple Small Spherical Robots
by Xihuan Hou, Huiming Xing, Shuxiang Guo, Huimin Shi and Na Yuan
Appl. Sci. 2024, 14(1), 294; https://doi.org/10.3390/app14010294 - 28 Dec 2023
Cited by 3 | Viewed by 1124
Abstract
Due to the characteristics of good concealment ability and strong mobility, multiple, small spherical underwater robot formations play an important role in near coast defense missions, such as cruising, reconnaissance, surveillance, and sensitive target capturing. Referring to the formation problem for underwater small [...] Read more.
Due to the characteristics of good concealment ability and strong mobility, multiple, small spherical underwater robot formations play an important role in near coast defense missions, such as cruising, reconnaissance, surveillance, and sensitive target capturing. Referring to the formation problem for underwater small spherical robots with limited energy, perception, and computation abilities, a trajectory tracking-based formation strategy that transforms the complex formation tracking problem into a simple trajectory tracking problem of a single robot is provided. Two layers are designed in the formation tracking strategy. The upper layer is a virtual structure-based formation algorithm. The bottom layer is a tracking controller based on model predictive control (MPC). The formation algorithm is in charge of calculating reference trajectory for each robot in the formation according to the global formation path. The MPC-based dynamic controller for each robot is designed to track the self reference trajectory. Compared with the model predictive control method used for the traditional trajectory tracking problem of a single robot, this paper additionally considers the formation constraints and the internal collision avoidance. In addition, the extended state observer (ESO) is utilized to estimate the lumped disturbance composed of environment disturbance and the inaccurate dynamic model of a small spherical robot. Not only are the numerical simulations based on MATLAB v.2015a, but physical simulations based on self-building multi-spherical robot formation platform are also carried out. Furthermore, through using two small spherical robots, a formation tracing experiment is conducted. All of the results prove that the proposed formation method is feasible and practical for small spherical robots. Full article
(This article belongs to the Special Issue New Concept Underwater Robot: Design, Optimization, and Applications)
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