Name
Abstract | ||
|---|---|---|
In this paper, we present a method for global motion planning of underwater vehicle manipulator systems (UVMS). The algorithm can derive a feasible path for UVMS equipped with an n-degree of freedom manipulator for performing autonomous underwater operations. The environment of the system is represented by a 4D Bump-surface that is used for obstacle avoidance. To improve the performance of the proposed method, the parallel calculation of the obstacle avoidance algorithm is considered, leading to a 46-230 times faster implementation using a Graphics Processing Unit. A path following task in an environment cluttered with obstacles is considered for the validation of the method, while a UVMS with a mounted 6-dof manipulator performs the task. Both parallel and serial approaches are evaluated and discussed. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/MED.2013.6608868 | Mediterranean Conference on Control and Automation |
Keywords | Field | DocType |
Motion planning,GPU,CUDA,Genetic Algorithms,UVMS | Motion planning,Obstacle avoidance,Remotely operated underwater vehicle,Computer science,Simulation,Manipulator,Path following,Graphics processing unit,Underwater vehicle,Underwater | Conference |
ISSN | Citations | PageRank |
2325-369X | 1 | 0.36 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Panagiotis Sotiropoulos | 1 | 1 | 2.05 |
| Vasileios Kolonias | 2 | 10 | 1.86 |
| n a aspragathos | 3 | 1 | 0.36 |
| Efthymios Housos | 4 | 219 | 14.71 |