Abstract

In this paper, we present a method for global motion planning of underwater vehicle manipulator systems (UVMS). The algorithm can derive a feasible path for UVMS equipped with an n-degree of freedom manipulator for performing autonomous underwater operations. The environment of the system is represented by a 4D Bump-surface that is used for obstacle avoidance. To improve the performance of the proposed method, the parallel calculation of the obstacle avoidance algorithm is considered, leading to a 46-230 times faster implementation using a Graphics Processing Unit. A path following task in an environment cluttered with obstacles is considered for the validation of the method, while a UVMS with a mounted 6-dof manipulator performs the task. Both parallel and serial approaches are evaluated and discussed.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.