Onboard Vision and MPC Navigation for Underwater Robots: An Open BlueROV2 Platform for Multi-Robot Experiments & Docking
This work presents an open-source BlueROV2 platform combining onboard vision and Nonlinear Model Predictive Control (NMPC) for autonomous navigation and docking underwater. The system uses stereo cameras and relative vehicle detection to estimate positions, fused with an Extended Kalman Filter for state estimation. This enables robust navigation in confined environments without external communication.