Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation

George C. Karras; Charalampos P. Bechlioulis; Panos Marantos; Shahabodin Heshmati-Alamdari; Kostas J. Kyriakopoulos

doi:10.1049/sbra525e_ch2

Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation

George C. Karras, Charalampos P. Bechlioulis, Panos Marantos, Shahabodin Heshmati-Alamdari, Kostas J. Kyriakopoulos

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Bidrag til bog/antologi › Forskning › peer review

3 Citationer (Scopus)

Abstract

The goal of this chapter is to provide the reader with the appropriate analytical methods, in order to derive a simple yet accurate vehicle model, design a state estimation algorithm that could be easily integrated into the embedded system framework of an underwater robotic vehicle and perform a fast online dynamic parameter identification.

Originalsprog	Engelsk
Titel	Autonomous Underwater Vehicles: Design and practice
Redaktører	Frank Ehlers
Antal sider	29
Forlag	Institution of Engineering and Technology
Publikationsdato	8 jul. 2020
Sider	15-43
Kapitel	2
ISBN (Trykt)	9781785617034
ISBN (Elektronisk)	9781785617041
DOI	https://doi.org/10.1049/sbra525e_ch2
Status	Udgivet - 8 jul. 2020
Udgivet eksternt	Ja

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10.1049/sbra525e_ch2

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Citationsformater

Karras, G. C., Bechlioulis, C. P., Marantos, P., Heshmati-Alamdari, S., & Kyriakopoulos, K. J. (2020). Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation. I F. Ehlers (red.), Autonomous Underwater Vehicles: Design and practice (s. 15-43). Institution of Engineering and Technology. https://doi.org/10.1049/sbra525e_ch2

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abstract = "The goal of this chapter is to provide the reader with the appropriate analytical methods, in order to derive a simple yet accurate vehicle model, design a state estimation algorithm that could be easily integrated into the embedded system framework of an underwater robotic vehicle and perform a fast online dynamic parameter identification.",

keywords = "autonomous underwater vehicles, mobile robots, state estimation",

author = "Karras, {George C.} and Bechlioulis, {Charalampos P.} and Panos Marantos and Shahabodin Heshmati-Alamdari and Kyriakopoulos, {Kostas J.}",

year = "2020",

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Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation. / Karras, George C.; Bechlioulis, Charalampos P.; Marantos, Panos et al.
Autonomous Underwater Vehicles: Design and practice. red. / Frank Ehlers. Institution of Engineering and Technology, 2020. s. 15-43.

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Bidrag til bog/antologi › Forskning › peer review

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T1 - Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation

AU - Karras, George C.

AU - Bechlioulis, Charalampos P.

AU - Marantos, Panos

AU - Heshmati-Alamdari, Shahabodin

AU - Kyriakopoulos, Kostas J.

PY - 2020/7/8

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KW - mobile robots

KW - state estimation

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BT - Autonomous Underwater Vehicles: Design and practice

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Sensor-based motion control of autonomous underwater vehicles, part I: modeling and low-complexity state estimation

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