Control of an Autonomous Surface Vehicle with Variable Load by Predictive Control

In the field of marine environment protection, the clean-up of polluted areas is increasingly a difficult task. Indeed, the exhaustive exploitation of this environment, in particular oil exploitation, drilling platforms or waste resulting from the intentional or accidental dumping of rubbish in the sea by man, has only increased the rate of pollution of these environments. Consequently, getting rid of this waste and hydrocarbons has become a complicated, costly and time-consuming operation. This is the context of the Sea-neT project, which aims to offer e-capable, flexible and inexpensive solutions for the de-pollution of aquatic areas, particularly for sheltered areas (coasts, ports, rivers, canals, lakes, etc.). As the carrier of this project, the company IADYS has set up the Jellyfishbot, a small remotely operated clean-up robot that collects macro-waste and hydrocarbons. In order to improve the performance of this robot and to automate it in an intelligent and predictive way. This work is carried out in the framework of an ESPRIT end-of-study project in collaboration with the Laboratoire d'Analyse, de Conception et de Commande des Systèmes (LACS) at ENIT and Laboratoire d'Informatique, de Robotique et de Micro-électronlque de Montpellier (LIRMM).