Research Progress of Underwater Vehicle-manipulator Systems: Configuration, Modeling and Control

Abstract

Underwater vehicle-manipulator systems (UVMS) can fulfill underwater sampling, grabbing, operation and other tasks in addition to observation. It is widely used in marine scientific investigations, marine engineering and other fields. The state of the art of UVMS is reviewed. Different configurations of vehicles and manipulator in UVMS are introduced, and the kinematics, dynamics and hydrodynamics modeling method of UVMS are summarized. Then the teleoperation control of human-machine interaction is analyzed. In the autonomous control of UVMS, motion planning, position and trajectory tracking, independent and coordinated control, motion compensation control, position/force hybrid control, visual servo control and other issues are classified and summarized. Finally, the conclusion is given and the future trend of UVMS is discussed, it can provide a reference for relevant researchers.