Yong-Sheng Pei

Path Planning and Trajectory Tracking of an Underwater Quadrotor Vehicle Using Enhanced RRT and Disturbance-Observer-Assisted MPC–PID

Underwater quadrotor vehicles operating in complex nearshore environments face challenges in three-dimensional path planning, obstacle-triggered replanning, and trajectory tracking under external disturbances. To address these issues, this paper evaluates an enhanced rapidly exploring random tree (iRRT) planner and a m...