Optimum Docking of an Unmanned Underwater Vehicle for High Dexterity Manipulation
A method for the determination of the optimum docking or hovering position of an Underwater Unmanned Vehicle is proposed for performing a desired intervention task with high dexterity. The optimization problem is formulated taken into account primarily the manipulator’s dexterity in the area of intervention as well as the distance between the current position and the optimal one and the geometric constraints imposed by the environment. A Genetic Algorithm is designed and implemented to search for the best docking position. An underwater scenario with a UUV equipped with a 6 DOF manipulator is examined in order to verify the applicability of the proposed approach.
SOTIROPOULOS Panagiotis;
ASPRAGATHOS Nikos;
ANDRITSOS Fivos;
2014-07-23
International Association of Engineers
JRC64330
1819-9224,
1819-656X,
https://publications.jrc.ec.europa.eu/repository/handle/JRC64330,
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