Title :
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
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;
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
DOI :
10.1109/OCEANSKOBE.2008.4531000
