Motion Planning for Image-based Visual Servoing of an Underwater Vehicle-Manipulator System in Task-Priority Frameworks

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.