Energy-efficient path planning for Robotic Bulkhead Inspection using Residual-Enhanced UKF and Hierarchical MPC

• Jiexin Wang,

  Roles Conceptualization, Data curation, Formal analysis, Investigation, Methodology, Resources, Software, Validation, Visualization, Writing – original draft, Writing – review & editing

  Affiliation College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, Jiangsu, China

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• Lei Li ,

  Roles Conceptualization, Data curation, Formal analysis, Investigation, Methodology, Project administration, Resources, Software, Supervision, Visualization, Writing – original draft, Writing – review & editing

  * E-mail: lilei0064@sina.com

  Affiliation College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, Jiangsu, China

  https://orcid.org/0009-0009-5638-000X

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• Runlin Gao,

  Roles Conceptualization, Data curation, Formal analysis, Methodology, Resources, Software

  Affiliation College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, Jiangsu, China

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• Liu Yang

  Roles Conceptualization, Data curation, Formal analysis, Funding acquisition, Methodology, Resources, Software, Supervision, Validation, Visualization, Writing – original draft, Writing – review & editing

  Affiliation College of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, Jiangsu, China

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