Coordinated motion planning and control of autonomous underwater vehicle-manipulator systems subject to drag optimization

A new motion coordination algorithm for an autonomous underwater vehicle-ma nipulator system (UVMS) is proposed. This algorithm generates the desired t rajectories for both the vehicle and the manipulator in such a way that the total hydrodynamic drag on the system is minimized. Resolution of kinemati c redundancy of the system is performed at the acceleration level so that t his algorithm can be incorporated into the system dynamics. The dynamics of the UVMS are modeled using a quasi-Lagrange approach. A state-space formul ation of the system along with a model-based controller design for trajecto ry-following tasks that includes thruster dynamics is also presented, The c omputer simulation results demonstrate the effectiveness of this proposed m ethod in reducing the drag on the system.