Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization

Author

Sarkar, Nilanjan ; Podder, Tarun Kanti

Author_Institution

Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA

Volume

26

Issue

2

fYear

2001

fDate

4/1/2001 12:00:00 AM

Firstpage

228

Lastpage

239

Abstract

A new motion coordination algorithm for an autonomous underwater vehicle-manipulator system (UVMS) is proposed. This algorithm generates the desired trajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized. Resolution of kinematic redundancy of the system is performed at the acceleration level so that this algorithm can be incorporated into the system dynamics. The dynamics of the UVMS are modeled using a quasi-Lagrange approach. A state-space formulation of the system along with a model-based controller design for trajectory-following tasks that includes thruster dynamics is also presented. The computer simulation results demonstrate the effectiveness of this proposed method in reducing the drag on the system

Keywords

control system synthesis; drag reduction; manipulator dynamics; minimisation; model reference adaptive control systems; motion control; path planning; redundant manipulators; remotely operated vehicles; robust control; state-space methods; underwater vehicles; AUV manipulator system; computer simulation; coordinated motion planning and control; drag optimization; drag reduction; kinematic redundancy; kinetic energy; model-based controller design; motion coordination algorithm; quasi-Lagrange approach; state-space formulation; thruster dynamics; total hydrodynamic drag; trajectory-following tasks; Control systems; Drag; Humans; Hydrodynamics; Manipulators; Mechanical engineering; Motion control; Remotely operated vehicles; Robot kinematics; Vehicle dynamics;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.922789

Filename

922789