Journal
OCEAN ENGINEERING
Volume 195, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2019.106644
Keywords
Underwater vehicle; Environmental autonomous perception; Underwater vehicle manipulator system; Target capture
Funding
- National Natural Science Foundation of China of China [61633009, 51579053, 5129050, 51639004, 61603277, 51779052, 51779059]
- Community Technology of the 13th Five-Year Plan for Equipment Pre-research Fund [41412050101]
- Field Fund of the 13th Five-Year Plan for Equipment Pre-research Fund [61403120409]
- Key Basic Research Project of Shanghai Science and Technology Innovation Plan [15JC1403300]
- Plan Projects of Thousand Youth Talents [1000231901]
- Aerospace Science and Technology Innovation Fund [SAST201607]
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The worldwide demands for high protein seafood are growing rapidly. Through robots instead of divers completing the capture will not only reduce the cost, but also improve the operation safety. Although a great number of underwater vehicles have been developed, it is still difficult for them to realize agile and uninjured sea organism capturing autonomously. This paper is proposed to investigate the current state of art about underwater autonomous and dexterous operation robot, underwater autonomous environmental perception, underwater vehicle-manipulator system modeling and coordinated control, target uninjured grasp; in order to analyze the difficulties and research methodologies for the robot development of sea organism autonomous and uninjured capture. To make analysis on the organism autonomous capture process, this article has presented two different open frame underwater vehicles, the absorption type one and the grasp type one. Analysis including autonomous visual search and detection process, acceleration-level task priority redundancy resolution approach for trajectory planning and grasp capture. Experiments with the organism autonomous grasp and absorption process have both been purposed.
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