Sviluppo e test di un controllore di assetto MPC per un ROV

Marine exploration utilizing Remotely Operated Vehicles (ROVs) has become integral to understanding the oceanic environment. Coordinating multiple vehicles concurrently is a critical aspect of enhancing exploration efficiency. This thesis focuses on the development and testing of a Model Predictive Control (MPC) combined controller for an Autonomous Underwater Vehicle (AUV) and an Uncrewed Surface Vehicle (USV) ROV.\\ Recognizing the importance of coordinated marine exploration, the research investigates the implementation of an MPC algorithm to control both AUVs and USVs simultaneously. The study is conducted in simulated environments to assess the controller's performance under varying conditions.\\ The development process involves designing a versatile MPC controller capable of effectively coordinating the movements of AUVs and USVs. The goal is to optimize their trajectories and maintain synchronized exploration patterns and a stable optical based connection. The unique dynamics of each vehicle type are considered to ensure adaptability and robust performance in the challenging underwater environment.\\ This research contributes to the advancement of marine exploration by addressing the challenges of coordinating multiple vehicles. The MPC combined controller offers a possible solution for optimizing exploration missions, providing a foundation for further developments in autonomous marine systems.