Fused Multiple Tasks Motion Planning for Underwater Vehicle-Manipulator System
- Resource Type
- Conference
- Authors
- Zhao, Wende; Peng, Shengquan; Wang, Yujia; Liu, Xing
- Source
- 2013 5th International Conference on Intelligent Human-Machine Systems and Cybernetics Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on. 1:322-326 Aug, 2013
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Joints
Planning
Manipulators
Underwater vehicles
Fuzzy logic
Vectors
Kinematics
UVMS
motion planning
multiple tasks
fusion
- Language
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.