Fused Multiple Tasks Motion Planning for Underwater Vehicle-Manipulator System

The problems of joint limit, and minimum roll and pitch restoring moment during UVMS operation is studied in the paper. As for the problem that too many subtasks will increase the number of fuzzy rules in traditional task prioritization algorithm, the paper proposed a new fused multiple subtask motion planning method by fusing the joint limit information into the weighted pseudo-inverse matrix. A numerical simulation is carried out to demonstrate the efficiency of the proposed method.