TY - GEN
T1 - A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems
AU - Zhao, Xinyuan
AU - Gao, Jian
AU - Yan, Weisheng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/7
Y1 - 2019/1/7
N2 - In this paper, a receding horizon (RH) motion planner is developed for an underwater vehicle manipulator system (UVMS) consisting of an unmanned underwater vehicle (UUV) and a robotic arm with multiple joints. The desired task is assigned as driving the end effector to a predefined pose while keeping roll and pitch of the UUV in a small range. Model-based constraints such as input saturations and mechanical limits are explicitly considered within the RH framework, and thus the generated velocities are executable for the real system. Compared with the task priority control approach, which has been widely studied for motion planning of UVMSs, the RH planner is better in its optimality and capability to deal with complicated environments and mission requirements. Performance of these two approaches is compared in simulation studies and effectiveness of the proposed RH motion planner is verified.
AB - In this paper, a receding horizon (RH) motion planner is developed for an underwater vehicle manipulator system (UVMS) consisting of an unmanned underwater vehicle (UUV) and a robotic arm with multiple joints. The desired task is assigned as driving the end effector to a predefined pose while keeping roll and pitch of the UUV in a small range. Model-based constraints such as input saturations and mechanical limits are explicitly considered within the RH framework, and thus the generated velocities are executable for the real system. Compared with the task priority control approach, which has been widely studied for motion planning of UVMSs, the RH planner is better in its optimality and capability to deal with complicated environments and mission requirements. Performance of these two approaches is compared in simulation studies and effectiveness of the proposed RH motion planner is verified.
KW - Kinematic redundancy
KW - Motion planning
KW - Receding horizon control (RHC)
KW - Task priority control
KW - Underwater vehicle manipulator system (UVMS)
UR - http://www.scopus.com/inward/record.url?scp=85061832388&partnerID=8YFLogxK
U2 - 10.1109/OCEANS.2018.8604851
DO - 10.1109/OCEANS.2018.8604851
M3 - 会议稿件
AN - SCOPUS:85061832388
T3 - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
BT - OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Y2 - 22 October 2018 through 25 October 2018
ER -
