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Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization
2016
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
This paper demonstrates a novel motion control approach for biomimetic underwater vehicles with pitching fins. Even though these vehicles are highly maneuverable, the actuation of their different degrees of freedom (DOFs) is strongly coupled. To address this problem, we propose to use smooth DOF prioritization depending on which maneuver the vehicle is about to do. DOF prioritization has allowed us to develop a modular, easily applicable and extendable motion control architecture for U-CAT
doi:10.1109/iros.2016.7759218
dblp:conf/iros/SalumaeCK16
fatcat:2soeknxm55fjlnul553r2ie5ni