Title :
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
fDate :
4/1/2001 12:00:00 AM
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;
Journal_Title :
Oceanic Engineering, IEEE Journal of
