Integrated Experiment Research on Motion Planning and Control of an Autonomous Underwater Vehicle-Manipulator System

摘要

An autonomous underwater vehicle-manipulator system (UVMS) is developed, and the system's control output characteristic with on-line and off-line motion planning is analyzed through pool experiments. Due to the deficiency of control output, strategies of combining on-line and off line motion planning and using manipulator's on-line motion as compensation are proposed. With the strategies, problem caused by response difference of UVMS is overcome to a certain extent, and the manipulator's end trajectory tracking precision is improved. Experiment results demonstrate the effectiveness of the proposed method.