A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems

Xinyuan Zhao; Jian Gao; Weisheng Yan

doi:10.1109/OCEANS.2018.8604851

A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems

Xinyuan Zhao
, Jian Gao
, Weisheng Yan

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

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.

Original language	English
Title of host publication	OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538648148
DOIs	https://doi.org/10.1109/OCEANS.2018.8604851
State	Published - 7 Jan 2019
Event	OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States Duration: 22 Oct 2018 → 25 Oct 2018

Publication series

Name	OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Conference

Conference	OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
Country/Territory	United States
City	Charleston
Period	22/10/18 → 25/10/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Kinematic redundancy
Motion planning
Receding horizon control (RHC)
Task priority control
Underwater vehicle manipulator system (UVMS)

Access to Document

10.1109/OCEANS.2018.8604851

Cite this

@inproceedings{d4bb654a53214c3899eeb4b7f4a95ee0,

title = "A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems",

abstract = "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.",

keywords = "Kinematic redundancy, Motion planning, Receding horizon control (RHC), Task priority control, Underwater vehicle manipulator system (UVMS)",

author = "Xinyuan Zhao and Jian Gao and Weisheng Yan",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 ; Conference date: 22-10-2018 Through 25-10-2018",

year = "2019",

month = jan,

day = "7",

doi = "10.1109/OCEANS.2018.8604851",

language = "英语",

series = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018",

}

Zhao, X, Gao, J & Yan, W 2019, A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems. in OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018., 8604851, OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018, Institute of Electrical and Electronics Engineers Inc., OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018, Charleston, United States, 22/10/18. https://doi.org/10.1109/OCEANS.2018.8604851

A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems. / Zhao, Xinyuan; Gao, Jian; Yan, Weisheng.
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8604851 (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems

AU - Zhao, Xinyuan

AU - Gao, Jian

AU - Yan, Weisheng

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 - https://www.scopus.com/pages/publications/85061832388

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 -

A Receding Horizon Motion Planner for Underwater Vehicle Manipulator Systems

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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