TY - GEN
T1 - Motion Planning for Image-based Visual Servoing of an Underwater Vehicle-Manipulator System in Task-Priority Frameworks
AU - Wen, Yingqian
AU - Gao, Jian
AU - Song, Yunxuan
AU - Chen, Yimin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Task priority is a task planning algorithm for kinematically redundant systems. In a task priority framework, each task has a different order of priority and a preset speed. This paper combines the image based visual servo (IBVS)control with the priority algorithm incorporating visual servo tasks to complete the motion planning of the underwater vehicle-manipulator system(UVMS). UVMS considers only the UUV movement firstly, relying on IBVS control on camera on UUV to approach the target point. After the target point enters the camera range, the task priority algorithm is switched. The primary task is to complete the overall visual servo control through the camera on the end-effector, so that the end-effector is close to the target point. The secondary task is to rely on the camera on the UUV to maintain the stability of the vehicle. Simulation results show that using this algorithm, UVMS relies on vision to realize remote motion planning.
AB - Task priority is a task planning algorithm for kinematically redundant systems. In a task priority framework, each task has a different order of priority and a preset speed. This paper combines the image based visual servo (IBVS)control with the priority algorithm incorporating visual servo tasks to complete the motion planning of the underwater vehicle-manipulator system(UVMS). UVMS considers only the UUV movement firstly, relying on IBVS control on camera on UUV to approach the target point. After the target point enters the camera range, the task priority algorithm is switched. The primary task is to complete the overall visual servo control through the camera on the end-effector, so that the end-effector is close to the target point. The secondary task is to rely on the camera on the UUV to maintain the stability of the vehicle. Simulation results show that using this algorithm, UVMS relies on vision to realize remote motion planning.
KW - image-based visual servo (IBVS)
KW - motion planning
KW - task priority
KW - underwater vehicle-manipulator system(UVMS)
UR - http://www.scopus.com/inward/record.url?scp=85151920376&partnerID=8YFLogxK
U2 - 10.1109/USYS56283.2022.10072926
DO - 10.1109/USYS56283.2022.10072926
M3 - 会议稿件
AN - SCOPUS:85151920376
T3 - 2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications, USYS 2022
BT - 2022 IEEE 9th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2022
Y2 - 5 December 2022 through 6 December 2022
ER -