Ponencia
Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions
Autor/es | Anderson, Alejandro
García Martín, Javier Bouraqadi, Noury Etienne, Lucien Maestre Torreblanca, José María ![]() ![]() ![]() ![]() ![]() ![]() ![]() Duviella, Éric |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2022 |
Fecha de depósito | 2023-12-11 |
Publicado en |
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ISBN/ISSN | 978-989758585-2 2184-2809 |
Resumen | Acquiring vast and reliable data of physicochemical parameters is critical to environment
monitoring. In the context of water quality analysis, data collection solutions have to overcome
challenges related to the scale ... Acquiring vast and reliable data of physicochemical parameters is critical to environment monitoring. In the context of water quality analysis, data collection solutions have to overcome challenges related to the scale of environments to be explored. Sites to monitor can be large or remote. These challenges can be approached by the use of Unmanned Vehicles (UVs). Robots provide both flexibility on intervention plans and technological methods for real-time data acquisition. Being autonomous, UVs can explore areas difficult to access or far from the shore. This paper presents a nonlinear Model Predictive Control (MPC) for UV-based exploration. The strategy aims to improve the data collection of physicochemical parameters with the use of an Unmanned Surface Vehicle (USV) targeting water quality analysis. We have performed simulations based on real field experiments with a SPYBOAT® on the Heron Lake in Villeneuve d’Ascq, France. Numerical results suggest that the proposed strategy outperforms the schedule of mission planning and exploration for large areas. |
Agencias financiadoras | Junta de Andalucía PAIDI 2020 |
Identificador del proyecto | P18-HO-4713
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Cita | Anderson, A., García Martín, J., Bouraqadi, N., Etienne, L., Maestre, J.M. y Duviella, É. (2022). Nonlinear Set-based Model Predictive Control for Exploration: Application to Environmental Missions. En Proceedings 19th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2022 (230-237), Lisboa: Science and Technology Publications, Lda. |
Ficheros | Tamaño | Formato | Ver | Descripción |
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ICINCO2022_Maestre_Nonlinear.pdf | 2.660Mb | ![]() | Ver/ | |