Publications
You can also find my articles on my Google Scholar profile.
Published in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023
This paper presents a Nonlinear Model Predictive Controller with an integrated Deterministic Sea Wave Predictor for trajectory tracking of underwater vehicles. The strategy is compared to a similar feed-forward disturbance mitigation scheme, showing mean performance improvements of 51\% in positional error and 44.5\% in attitude error.
Recommended citation: K. L. Walker et al. "Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, 01-05 Oct. 2023. https://arxiv.org/abs/2307.14834
Published in Ocean Engineering, 2021
The paper presents the analysis of load cell data as forces and moments acting on a BlueROV2 when subject to different hydrodynamic disturbances. In addition to active propelled cases, a variation of current speeds as well as different regular waves were tested.
Recommended citation: R. Gabl, T. Davey, Y. Cao, Q. Li, B. Li, K. L. Walker et al, "Hydrodynamic loads on a restrained ROV under waves and current", Ocean Engineering, vol. 234, pp. 1-11, 15th Aug. 2021. https://www.sciencedirect.com/science/article/abs/pii/S0029801821006995
Published in IEEE Robotics and Automation Letters, 2021
Experiments were undertaken in a wave tank with an ROV to validate the use of Linear Wave Theory (LWT) to capture the time history of surge, heave and pitch wave induced forces and moments. Validation is performed for various sea states, and the effectiveness of employing real-time wave disturbance forecasting for the purpose of anticipatory control is then assessed by incorporating the predicted loads within a Model Predictive Controller.
Recommended citation: K. L. Walker et al, "Experimental Validation of Wave Induced Disturbances for Predictive Station Keeping of a Remotely Operated Vehicle", IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5421-5428, 27th April 2021. https://ieeexplore.ieee.org/abstract/document/9416843
