UVMS task-priority planning framework for underwater task goal classification optimization

UVMS task-priority planning framework for underwater task goal classification optimization

This paper presents a task prioritization strategy based on a generic underwater task goal classification transformation for multitasking underwater operational tasks: attitude control, floating manipulation, collision-free motion, especially optimizing trajectory of the end-effector of an underwate...

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Bibliographic Details
Main Authors: Yu-er Gao, Xiaohui Zhang, Yan Su, Jinbao Wang, Qihang Yang, Wenqi Bai, Songnan Yang
Format: Article
Language:English
Published: Frontiers Media S.A. 2022-11-01
Series:Frontiers in Neurorobotics
Subjects:
underwater vehicle manipulator system
task prioritization strategy
motion planning
trajectory optimization
nonlinear optimization
Online Access:https://www.frontiersin.org/articles/10.3389/fnbot.2022.982505/full

Internet

https://www.frontiersin.org/articles/10.3389/fnbot.2022.982505/full

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