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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-11-01
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| Series: | Frontiers in Neurorobotics |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2022.982505/full |
| _version_ | 1828183174873612288 |
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| author | Yu-er Gao Yu-er Gao Xiaohui Zhang Xiaohui Zhang Yan Su Yan Su Jinbao Wang Jinbao Wang Qihang Yang Qihang Yang Wenqi Bai Wenqi Bai Songnan Yang Songnan Yang |
| author_facet | Yu-er Gao Yu-er Gao Xiaohui Zhang Xiaohui Zhang Yan Su Yan Su Jinbao Wang Jinbao Wang Qihang Yang Qihang Yang Wenqi Bai Wenqi Bai Songnan Yang Songnan Yang |
| author_sort | Yu-er Gao |
| collection | DOAJ |
| description | 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 underwater vehicle manipulator system (UVMS) in a complex marine environment. The design framework aims to divide the complex underwater operational tasks into UVMS executable generic task combinations and optimize the resource consumption during the whole task. In order to achieve the corresponding underwater task settings, the system needs to satisfy different task scheduling structures. We consider the actual application scenarios of the operational goals and prioritize and define each category of task hierarchy accordingly. Multiple tasks simultaneously enable fast adaptation to UVMS movements and planning to complete UVMS autonomous movements. Finally, an underwater vehicle manipulator system implements the task prioritization planning framework for a practical scenario with different constraints on different goals. We quickly and precisely realize the interconversion of different tasks under goal constraints. The autonomous motion planning and real-time performance of UVMS are improved to cope with the increasing operational task requirements and the complex and changing practical engineering application environments. |
| first_indexed | 2024-04-12T06:29:42Z |
| format | Article |
| id | doaj.art-c190c795021447e594ab26a7750f984e |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-04-12T06:29:42Z |
| publishDate | 2022-11-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-c190c795021447e594ab26a7750f984e2022-12-22T03:44:04ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182022-11-011610.3389/fnbot.2022.982505982505UVMS task-priority planning framework for underwater task goal classification optimizationYu-er Gao0Yu-er Gao1Xiaohui Zhang2Xiaohui Zhang3Yan Su4Yan Su5Jinbao Wang6Jinbao Wang7Qihang Yang8Qihang Yang9Wenqi Bai10Wenqi Bai11Songnan Yang12Songnan Yang13Department of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaDepartment of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaDepartment of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaDepartment of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaDepartment of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaDepartment of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaDepartment of Information and Control Engineering, Xi'an University of Technology, Xi'an, ChinaHanjiang-Weihe River Valley Water Diversion Project Construction Co., LTD., Xi'an, ChinaThis 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 underwater vehicle manipulator system (UVMS) in a complex marine environment. The design framework aims to divide the complex underwater operational tasks into UVMS executable generic task combinations and optimize the resource consumption during the whole task. In order to achieve the corresponding underwater task settings, the system needs to satisfy different task scheduling structures. We consider the actual application scenarios of the operational goals and prioritize and define each category of task hierarchy accordingly. Multiple tasks simultaneously enable fast adaptation to UVMS movements and planning to complete UVMS autonomous movements. Finally, an underwater vehicle manipulator system implements the task prioritization planning framework for a practical scenario with different constraints on different goals. We quickly and precisely realize the interconversion of different tasks under goal constraints. The autonomous motion planning and real-time performance of UVMS are improved to cope with the increasing operational task requirements and the complex and changing practical engineering application environments.https://www.frontiersin.org/articles/10.3389/fnbot.2022.982505/fullunderwater vehicle manipulator systemtask prioritization strategymotion planningtrajectory optimizationnonlinear optimization |
| spellingShingle | Yu-er Gao Yu-er Gao Xiaohui Zhang Xiaohui Zhang Yan Su Yan Su Jinbao Wang Jinbao Wang Qihang Yang Qihang Yang Wenqi Bai Wenqi Bai Songnan Yang Songnan Yang UVMS task-priority planning framework for underwater task goal classification optimization Frontiers in Neurorobotics underwater vehicle manipulator system task prioritization strategy motion planning trajectory optimization nonlinear optimization |
| title | UVMS task-priority planning framework for underwater task goal classification optimization |
| title_full | UVMS task-priority planning framework for underwater task goal classification optimization |
| title_fullStr | UVMS task-priority planning framework for underwater task goal classification optimization |
| title_full_unstemmed | UVMS task-priority planning framework for underwater task goal classification optimization |
| title_short | UVMS task-priority planning framework for underwater task goal classification optimization |
| title_sort | uvms task priority planning framework for underwater task goal classification optimization |
| topic | underwater vehicle manipulator system task prioritization strategy motion planning trajectory optimization nonlinear optimization |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2022.982505/full |
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