Marine robots, including autonomous underwater vehicles (AUV) and autonomous surface vehicles (ASV), play important roles in ocean exploration and exploitation. Yet, under-actuated or over-actuated property of marine vehicles heavily hinders the control of marine robots with high autonomy and intelligence. In this talk, some dedicated control methods are proposed to account for the challenges, by adopting LOS guidance strategy and optimized control allocation algorithms. Application examples of path following and dynamic positioning control are presented in details with experimental results in water. Some ongoing marine robotic projects and open problems conclude this speech.
Dr. Xianbo Xiang, Professor of Huazhong university of science and technology, deputy dean of School of Naval Architecture and Ocean Engineering. His research interests include robotics and marine surface/underwater vehicle. He received the Ph.D. degree in System Automation and Mirco-electronics from the University of Montpellier II, France, in 2011. From September 2006 to December 2006, he was an EU Erasmus Mundus Visiting Scholar in the SpaceMaster Project in Germany. From February 2008 to March 2011, he was in the European Project FreeSubNet as an EC Marie Curie ESR Fellow at LIRMM, CNRS UMR 5506, France. He is a member of the technical committee of IFAC Marine Systems, and serves as the guest editors for International Journal of Intelligent Robotics and Applications, International Journal of Fuzzy Systems, and Indian Journal of Geo-marine science. He was a general chair of IEEE USYS2018 conference. Currently, he leads the research Lab and builds international collaborations with researchers in Croatia, France, UK, USA, etc.