Research on Dynamic Simulation of Underwater Vehicle Manipulator Systems

Author

Li, Qiang ; Zhang, Qifeng ; Wang, Xiaohui

Author_Institution

Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang

fYear

2008

Firstpage

1

Lastpage

7

Abstract

This paper presents a simulator to simulating two key problems-underwater perception and autonomous manipulation o In the simulator a controller-observer strategy is proposed. A new SLAM (Simultaneous Localization and Mapping) algorithm - UKF (Unscented Kalman Filter) is used to estimate the state of UVMS (Underwater Vehicle Manipulator Systems) and the target object. 3D Simulation results show that the new SLAM algorithm can get the optimal estimation of state of UVMS and the target object, and the end-effector of manipulator can reach the desired object and the accuracy is centimeter level.

Keywords

Kalman filters; geophysics computing; mathematics computing; oceanographic techniques; underwater vehicles; 3D Simulation; Simultaneous Localization and Mapping algorithm; Underwater Vehicle Manipulator Systems; Unscented Kalman Filter; controller-observer strategy; target object; underwater perception; Automotive engineering; Manipulator dynamics; Oceans; Orbital robotics; Robot kinematics; Robotics and automation; Simultaneous localization and mapping; State estimation; Underwater vehicles; Vehicle dynamics; SLAM; UKF; UVMS; autonomous manipulation; position estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean

Conference_Location

Kobe

Print_ISBN

978-1-4244-2125-1

Electronic_ISBN

978-1-4244-2126-8

Type

conf

DOI

10.1109/OCEANSKOBE.2008.4531000

Filename

4531000