Download or read book Motion Planning of Autonomous Underwater Vehicle manipulator Systems written by Tarun Kanti Podder and published by . This book was released on 2000 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Unified Dynamics based Motion Planning Algorithm for Autonomous Underwater Vehicle Manipulator Systems UVMS written by Tarun K. Podder and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: We have proposed a new unified dynamics-based motion planning algorithm that can generate both kinematically admissible and dynamically feasible joint-space trajectories for systems composed of heterogeneous dynamics. We have then extended this algorithm for an autonomous underwater vehicle-manipulator system, where the dynamic response of the vehicle is much slower than that of the manipulator. We have also exploited the kinemetic redundancy to accommodate the thruster/actuator faults and saturation and also to minimize hydrodynamic drag. We have incorporated thruster dynamics when modeling the UVMS. Although, some researchers have exploited kinematic redundancy for optimizing various criteria, but those work have mainly addressed to problems with land-based robotics or space-robotics. Hardly any motion planning algorithm has been developed for autonomous underwater vehiclemanipulator system. In this research, work we have formulated a new unified motion planning algorithm for a heterogeneous underwater robotic system that has a vastly different dynamic bandwidth. The results from computer simulation demonstrate the effectiveness of the proposed method. It shows that the proposed algorithm not only improves the trajectory tracking performance but also significantly reduce the energy consumption and the power requirements for the operation of an autonomous UVMS. We have not presented results from Case II (Total Decomposition) because of the length of the paper. However, these results are comparable to the conventional motion planning approach. In future, instead of Fourier decomposition, one can try to use wavelet approach to decompose the task-space trajectory into system's sub-component compatible segments. There are a few drawbacks of this paper as well. We used a model-based control technique to evaluate our planning algorithm. However, the underwater environment is uncertain and we need to use adaptive control techniques in future. Although the fault-tolerant control algorithm has been experimentally verified, the other proposed algorithms need to be validated by experiments.
Download or read book Underwater Biomimetic Vehicle Manipulator System written by Shuo Wang and published by Springer Nature. This book was released on 2023-04-27 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is about the design and control of biomimetic underwater robots. It explains the six aspects of the underwater biomimetic vehicle- manipulator system in detail and provides practical examples. This book is the authors’ long-term exploration of the theoretical and technical issues in the development of the underwater biomimetic vehicle-manipulator system and is written based on more than 15 years of scientific research and practical experience. This book is a helpful reference for the researchers, engineers, master and Ph.D. students in the field of biomimetic underwater robots.
Download or read book Underwater Robots written by Gianluca Antonelli and published by . This book was released on 2006-06-13 with total page 312 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided; experimental results obtained with the vehicle ODIN are presented. The presence of a manipulator is further studied in the aspects of kinematic, dynamic and interaction control. The purpose of this second edition is to add material n.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-22 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.
Download or read book Autonomous Underwater Vehicles written by Sabiha Wadoo and published by CRC Press. This book was released on 2017-12-19 with total page 208 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.
Download or read book Introduction to Autonomous Manipulation written by Giacomo Marani and published by Springer. This book was released on 2014-03-26 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: “Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environments. After presenting the theoretical foundations for kinematic and dynamic modelling as well as task-priority based kinematic control of multi-body systems, the work is focused on one of the most advanced underwater vehicle-manipulator system, SAUVIM (Semi-Autonomous Underwater Vehicle for Intervention Missions). Solutions to the problem of target identification and localization are proposed, a number of significant case studies are discussed and practical examples an d experimental/simulation results are presented. The book may inspire the robot research community to further investigate critical issues in autonomous manipulation and to develop robot systems that can profoundly impact our society for the better.
Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
Download or read book A Sampling based Model Predictive Control Approach to Motion Planning for Autonomous Underwater Vehicles written by Charmane Venda Caldwell and published by . This book was released on 2011 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: In recent years there has been a demand from the commercial, research and military industries to complete tedious and hazardous underwater tasks. This has lead to the use of unmanned vehicles, in particular autonomous underwater vehicles (AUVs). To operate inthis environment the vehicle must display kinematically and dynamically feasible trajectories. Kinematic feasibility is important to allow for the limited turn radius of an AUV, while dynamic feasibility can take into consideration limited acceleration and braking capabilities due to actuator limitations and vehicle inertia. Model Predictive Control (MPC) is a method that has the ability to systematically handle multi-input multi-output (MIMO) control problems subject to constraints. It finds the control input by optimizing a cost function that incorporates a model of the system to predict future outputs subject to the constraints. This makes MPC a candidate method for AUV trajectory generation. However, traditional MPC has difficulties in computing control inputs in real time for processes with fast dynamics. This research applies a novel MPC approach, called Sampling-Based Model Predictive Control (SBMPC), to generate kinematically or dynamically feasible system trajectories for AUVs. The algorithm combines the benefits of sampling-based motion planning with MPC while avoiding some of the major pitfalls facing both traditional sampling-based planning algorithms and traditional MPC, namely large computation times and local minimum problems. SBMPC is based on sampling (i.e., discretizing) the input space at each sample period and implementing a goal-directed optimization method (e.g., A?) in place of standard nonlinear programming. SBMPC can avoid local minimum, has only two parameters to tune, and has small computational times that allows it to be used online fast systems. A kinematic model, decoupled dynamic model and full dynamic model are incorporated in SBMPC to generate a kinematic and dynamic feasible 3D path. Simulation results demonstrate the efficacy of SBMPC in guiding an autonomous underwater vehicle from a start position to a goal position in regions populated with various types of obstacles.
Download or read book Vehicle Manipulator Systems written by Pål Johan From and published by Springer Science & Business Media. This book was released on 2013-10-02 with total page 402 pages. Available in PDF, EPUB and Kindle. Book excerpt: Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas. The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain globally valid representations of the dynamic equations of vehicle-manipulator systems. The specific characteristics of several different types of vehicle-manipulator systems are included and the various application areas of these systems are discussed in detail. For underwater robots buoyancy and gravity, drag forces, added mass properties, and ocean currents are considered. For space robotics the effects of free fall environments and the strong dynamic coupling between the spacecraft and the manipulator are discussed. For wheeled robots wheel kinematics and non-holonomic motion is treated, and finally the inertial forces are included for robots mounted on a forced moving base. Modeling and Control of Vehicle-manipulator Systems will be of interest to researchers and engineers studying and working on many applications of robotics: underwater, space, personal assistance, and mobile manipulation in general, all of which have similarities in the equations required for modeling and control.
Download or read book Towards Combined Task and Motion Planning for Autonomous Underwater Vehicles written by James William McMahon and published by . This book was released on 2016 with total page 123 pages. Available in PDF, EPUB and Kindle. Book excerpt: In oceanic research and development, autonomous underwater vehicles (AUVs) provide scientists with the ability to augment expensive manned operations at a lower cost while simultaneously exploring regions that were previously inaccessible to scientists. While the cost of these AUVs is often nontrivial, the ability to autonomously sample data from varying regions over extended time periods removes the necessity of human operations which require much higher overhead costs. Scientists are now leveraging the unique abilities of AUVs to explore new environments, scientists are now starting to use AUVs to perform sophisticated missions in deep ocean environments, under the polar ice caps, or throughout dangerous minefields in the littoral. The success of these missions, however, depends on the ability of the AUV to autonomously perform complex tasks. Toward this goal, this dissertation seeks to enhance the capabilities of AUVs so that they are able to autonomously plan the high-level actions and the low-level motions needed to accomplish complex missions. A framework is developed which makes it possible to specify such missions in a structured language resembling English, and it automatically plans the actions and motions that the AUV needs to execute in order to accomplish the mission. The mission-specification language is grounded in well-established logical formalisms such as Regular Languages and Linear Temporal Logic. The inherent structure of the mission-specification language makes it possible to construct sophisticated mission such as exploring unknown areas, searching for objects of interest, or collecting data. In doing so, the framework alleviates the burden imposed on human operators who currently need to manually input highly detailed mission specifications into multiple configuration files, which increases the risk for mission failure due to human error. Instead, the framework makes it possible for the human operators to specify the missions in an easy-to-use, structured language. The technical contribution of the dissertation stems from a novel treatment of the combined mission and motion-planning problem as a hybrid search over discrete and continuous layers. Leveraging advances in AI and Robotics, a hybrid-planning framework is developed which combines high-level AI mission planning with low-level sampling-based motion planning. High-level planning, which operates over a discrete and abstract layer, breaks down the overall mission into a sequence of tasks. Sampling-based motion planning conducts a search over the feasible motions of the AUV in order to compute a trajectory that enables the AUV to accomplish each task. When sampling-based motion planning fails to make progress it requests another high-level plan from the AI planning layer. This interplay between high-level discrete planning and sampling-based motion planning is crucial to the success of the framework. The hybrid framework can be used with any AUV. Extensive experiments have been conducted with high-fidelity simulators and real AUVs, such as OceanServer Iver2 AUV and Reliant Bluefin-21 AUV. The experimental results show the ability of the approach to effectively plan collision-free and dynamically-feasible trajectories that enable the AUV to carry out sophisticated missions, such as inspection of numerous areas, data collection, and reacquisition and identification in Mine Countermeasures. The success of the hybrid framework highlight the potential of the approach to enhance the autonomy of AUVs, making it possible to carry out sophisticated missions at a lower operational cost.
Download or read book Underwater Vehicle Control and Communication Systems Based on Machine Learning Techniques written by Tien Anh Tran and published by CRC Press. This book was released on 2023-12-04 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.
Download or read book Underwater Robots written by Junku Yuh and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 251 pages. Available in PDF, EPUB and Kindle. Book excerpt: All life came from sea but all robots were born on land. The vast majority of both industrial and mobile robots operate on land, since the technology to allow them to operate in and under the ocean has only become available in recent years. A number of complex issues due to the unstructured, hazardous undersea environment, makes it difficult to travel in the ocean while today's technologies allow humans to land on the moon and robots to travel to Mars . . Clearly, the obstacles to allowing robots to operate in a saline, aqueous, and pressurized environment are formidable. Mobile robots operating on land work under nearly constant atmospheric pressure; their legs (or wheels or tracks) can operate on a firm footing; their bearings are not subjected to moisture and corrosion; they can use simple visual sensing and be observed by their creators working in simple environments. In contrast, consider the environment where undersea robots must operate. The pressure they are subjected to can be enormous, thus requiring extremely rugged designs. The deep oceans range between 19,000 to 36,000 ft. At a mere 33-foot depth, the pressure will be twice the normal one atmosphere pressure of 29. 4 psi. The chemical environment of the sea is highly corrosive, thus requiring the use of special materials. Lubrication of moving parts in water is also difficult, and may require special sealed, waterproof joints.
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
Download or read book Modelling and Control of Mechatronic and Robotic Systems written by Alessandro Gasparetto and published by MDPI. This book was released on 2021-09-02 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: Currently, the modelling and control of mechatronic and robotic systems is an open and challenging field of investigation in both industry and academia. The book encompasses the kinematic and dynamic modelling, analysis, design, and control of mechatronic and robotic systems, with the scope of improving their performance, as well as simulating and testing novel devices and control architectures. A broad range of disciplines and topics are included, such as robotic manipulation, mobile systems, cable-driven robots, wearable and rehabilitation devices, variable stiffness safety-oriented mechanisms, optimization of robot performance, and energy-saving systems.
Download or read book Path Planning Methods for AUVs written by Konuralp Yiğit and published by . This book was released on 2011 with total page 81 pages. Available in PDF, EPUB and Kindle. Book excerpt: From naval operations to ocean science missions, the importance of autonomous vehicles is increasing with the advances in underwater robotics technology. Due to the dynamic and intermittent underwater environment and the physical limitations of autonomous underwater vehicles, feasible and optimal path planning is crucial for autonomous underwater operations. The objective of this thesis is to develop and demonstrate an efficient underwater path planning algorithm based on the level set method. Specifically, the goal is to compute the paths of autonomous vehicles which minimize travel time in the presence of ocean currents. The approach is to either utilize or avoid any type of ocean flows, while allowing for currents that are much larger than the nominal vehicle speed and for three-dimensional currents which vary with time. Existing path planning methods for the fields of ocean science and robotics are first reviewed, and the advantages and disadvantages of each are discussed. The underpinnings of the level set and fast marching methods are then reviewed, including their new extension and application to underwater path planning. Finally, a new feasible and optimal time-dependent underwater path planning algorithm is derived and presented. In order to demonstrate the capabilities of the algorithm, a set of idealized test-cases of increasing complexity are first presented and discussed. A real three-dimensional path planning example, involving strong current conditions, is also illustrated. This example utilizes four-dimensional ocean flows from a realistic ocean prediction system which simulate the ocean response to the passage of a tropical storm in the Middle Atlantic Bight region.
Download or read book Mobile Robot Motion Control and Path Planning written by Ahmad Taher Azar and published by Springer Nature. This book was released on 2023-06-30 with total page 670 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the recent research advances in linear and nonlinear control techniques. From both a theoretical and practical standpoint, motion planning and related control challenges are key parts of robotics. Indeed, the literature on the planning of geometric paths and the generation of time-based trajectories, while accounting for the compatibility of such paths and trajectories with the kinematic and dynamic constraints of a manipulator or a mobile vehicle, is extensive and rich in historical references. Path planning is vital and critical for many different types of robotics, including autonomous vehicles, multiple robots, and robot arms. In the case of multiple robot route planning, it is critical to produce a safe path that avoids colliding with objects or other robots. When designing a safe path for an aerial or underwater robot, the 3D environment must be considered. As the number of degrees of freedom on a robot arm increases, so does the difficulty of path planning. As a result, safe pathways for high-dimensional systems must be developed in a timely manner. Nonetheless, modern robotic applications, particularly those requiring one or more robots to operate in a dynamic environment (e.g., human–robot collaboration and physical interaction, surveillance, or exploration of unknown spaces with mobile agents, etc.), pose new and exciting challenges to researchers and practitioners. For instance, planning a robot's motion in a dynamic environment necessitates the real-time and online execution of difficult computational operations. The development of efficient solutions for such real-time computations, which could be offered by specially designed computational architectures, optimized algorithms, and other unique contributions, is thus a critical step in the advancement of present and future-oriented robotics.
