Research on dynamic simulation of Underwater Vehicle Manipulator Systems

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Research on dynamic simulation of Underwater Vehicle Manipulator Systems
	Li Q(李强); Zhang QF(张奇峰); Wang XH(王晓辉)
	2008
会议名称	International Conference OCEANS 2008 and MTS/IEEE Kobe Techno-Ocean '08
会议日期	April 8-11, 2008
会议地点	Kobe, JAPAN
关键词	UVMS UKF SLAM position estimation autonomous manipulation
页码	603-609
中文摘要	This paper presents a simulator to simulating two key problems-underwater perception and autonomous manipulation. In the simulator a controller-observer strategy is proposed. A new SLAM (Simultaneous Localization and Mapping) algorithm-UEF (Unscented Kalman Filter) is used to estimate the state of UVMS (Underwater Vehicle Manipulator Systems) and the target object. 3D Simulation results show that the new SLAM algorithm can get the optimal estimation of state of UVMS and the target object, and the end-effector of manipulator can reach the desired object and the accuracy is centimeter level.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Marine Technol Soc, IEEE Ocean Engn Soc, MTS Japan Sect, IEEE OES Japan Sect, Techno Ocean Network, Kobe Convent & Visitors Assoc, Japan Agcy Marine Earth Sci & Technol, AESTO, NEC Corp, Off Naval Res Global, Alec Elect Co Ltd, Hakodate Dock Co Ltd, Imabari Shipbuilding Co Ltd, Namura Shipbuilding Co Ltd, Oshima Shipbuilding Co Ltd, Sanoyas Hishino Meisho Corp, Sasebo Heavy Industries Co Ltd, Shin Kurushima Dockyard Co Ltd, Toyohashi Shipbuilding Co Ltd, Tsuneishi Holdings Corp
会议录	OCEANS 2008 - MTS/IEEE KOBE TECHNO-OCEAN, VOLS 1-3
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-2125-1
WOS记录号	WOS:000257943100102
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7839]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	Li Q,Zhang QF,Wang XH. Research on dynamic simulation of Underwater Vehicle Manipulator Systems[C]. 见:International Conference OCEANS 2008 and MTS/IEEE Kobe Techno-Ocean '08. Kobe, JAPAN. April 8-11, 2008.