Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization

2001 ◽  
Vol 26 (2) ◽  
pp. 228-239 ◽  
Author(s):  
N. Sarkar ◽  
T.K. Podder
Keyword(s):  
Motion Planning ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Coordinated Motion ◽  
Planning And Control ◽  
And Control

Motion Planning and Control of Artificial Muscle Actuated Underwater Vehicle Using Nonlinear Neural Oscillator

2007 ◽  
Author(s):  
Joon Soo Lee ◽  
Woosoon Yim ◽  
Kwang J. Kim
Keyword(s):  
Motion Planning ◽  
Controller Design ◽  
Artificial Muscle ◽  
Underwater Vehicle ◽  
Open Loop ◽  
Neural Oscillator ◽  
Aquatic Environments ◽  
Metal Composite ◽  
Planning And Control ◽  
And Control

In this paper, we introduce the motion planning and control strategy for the underwater vehicle actuated by a soft artificial muscle actuator. The artificial muscle used for this underwater application is an Ionic Polymer Metal Composite (IPMC) which can generate bending motion in aquatic environments. In this research, the double ring structured nonlinear neural oscillator is proposed for the undulatory motion in the actuator. The overall dynamic model of the flexible IPMC actuator including its fluid interaction terms is used for the motion planning and open-loop controller design. The IPMC used in this study is a patterned or segmented type where the electrode surface of the actuator is encoded such that each segment can be controlled independently for effectively generating an undulatory motion in the water. Computer simulations show that the proposed neural oscillator based controller can be effectively used for the underwater locomotion applications, and can be extended to the closed-loop controller where the precise maneuver is needed in the unstructured aquatic environments.

scholarly journals Three-dimensional visualization of mission planning and control for the NPS autonomous underwater vehicle

1990 ◽  
Vol 15 (3) ◽  
pp. 217-221 ◽  
Author(s):  
M.J. Zyda ◽  
R.B. McGhee ◽  
S. Kwak ◽  
D.B. Nordman ◽  
R.C. Rogers ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Three Dimensional ◽  
Underwater Vehicle ◽  
Mission Planning ◽  
Planning And Control ◽  
And Control
Sign in / Sign up

Export Citation Format

Share Document