Details

Autor(en) / Beteiligte

• Simetti, E.
• Casalino, G.
• Wanderlingh, F.
• Aicardi, M.

Titel

Task priority control of underwater intervention systems: Theory and applications

Ist Teil von

• Ocean engineering, 2018-09, Vol.164, p.40-54

Ort / Verlag

Elsevier Ltd

Erscheinungsjahr

2018

Link zum Volltext

Quelle

ScienceDirect

Beschreibungen/Notizen

• This paper presents a unifying task priority control architecture for underwater vehicle manipulator systems. The proposed control framework can be applied to different operative scenarios such as waypoint navigation, assisted teleoperation, interaction, landing and grasping. This work extends the results of the TRIDENT and MARIS projects, which were limited to the execution of grasping actions, to other applications taken from the DexROV and ROBUST projects. In particular, simulation results show how the control framework can be used, for example, for pipeline inspection scenarios and deep sea mining exploration. •A task priority based control framework for UVMS is presented.•It is suitable for many applications, ranging from grasping to pipe inspection.•Its use for safe navigation and landing are presented.•Its application to a pipe inspection scenario is duly analysed.•It can be adapted for assisted teleoperation in an assisted ROV control scenario.