Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
5.3
2.5
Journals
Applied Sciences
Special Issues
New Concept Underwater Robot: Design, Optimization, and Applications
applsci-logo
Submit to Applied Sciences Review for Applied Sciences Propose a Special Issue

Journal Menu

► Journal Menu

Journal Browser

► Journal Browser
share announcement

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 1147

Special Issue Editors

Dr. Gang Wang

E-Mail Website
Guest Editor
College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
Interests: underwater robot; intelligent robotic systems
Dr. Huiming Xing

E-Mail Website
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
Prof. Dr. He Shen

E-Mail Website
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

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Published Papers (1 paper)

Order results
Result details
Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:

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
Viewed by 821
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)
►▼ Show Figures

Figure 1

Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:
 
Displaying articles 1-1
Back to TopTop