Over time,the utilization of the Underwater Vehicle-Manipulator System(UVMS)has steadily increased in exploring and harnessing marine resources.However,the underwater environment poses big challenges for controlling,n...Over time,the utilization of the Underwater Vehicle-Manipulator System(UVMS)has steadily increased in exploring and harnessing marine resources.However,the underwater environment poses big challenges for controlling,navigating,and communicating with UVMS.These challenges have not only spurred the continuous advancement of related technologies,but also made the development of the UVMS even more captivating.This article firstly provides a review of development status of the UVMS and discusses the current limitations and future directions,and then reviews in detail the dynamic and hydrodynamic modeling methods,and analyzes the principles,advantages,and disadvantages of various approaches.Then,we try to review 2 key technologies of operation control methods,including underwater positioning and navigation technologies and vehicle-manipulator coordinated control approaches.Finally,a reasonable prospect for the future development of UVMS is given.展开更多
基金supported in part by the National Natural Science Foundation of China under Grant 62122087 and 62073316in part by the Beijing Natural Science Foundation under Grant 4222055+1 种基金in part by the Youth Innovation Promotion Association CAS under Grant Y2022053in part by the Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing(KZ202210017024).
文摘Over time,the utilization of the Underwater Vehicle-Manipulator System(UVMS)has steadily increased in exploring and harnessing marine resources.However,the underwater environment poses big challenges for controlling,navigating,and communicating with UVMS.These challenges have not only spurred the continuous advancement of related technologies,but also made the development of the UVMS even more captivating.This article firstly provides a review of development status of the UVMS and discusses the current limitations and future directions,and then reviews in detail the dynamic and hydrodynamic modeling methods,and analyzes the principles,advantages,and disadvantages of various approaches.Then,we try to review 2 key technologies of operation control methods,including underwater positioning and navigation technologies and vehicle-manipulator coordinated control approaches.Finally,a reasonable prospect for the future development of UVMS is given.
