Abstract:This paper considers path planning for underwater robot in navigation tasks. The main challenge is how to deal with uncertainties in the underwater environment such as motion model error and sensing error. To overcome this challenge, two high level control methods have been presented and compared, which are based on the Model Predictive Control (MPC) strategy and the Partially Observable Markov Decision Process (POMDP) model, respectively. Navigation time, collision frequency, energy consumption and accuracy i… Show more
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