Full Text:
<74>
CLC number:
On-line Access: 2025-05-30
Received: 2024-06-02
Revision Accepted: 2025-04-06
Crosschecked: 0000-00-00
Cited: 0
Clicked: 126
A unified shared control architecture for underwater vehicle-manipulator systems using task priority
| |||||||||||||
Zhangpeng TU1, Yuanchao ZHU1,3, Xin WU1, Canjun YANG1,2. A unified shared control architecture for underwater vehicle-manipulator systems using task priority[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .
@article{title="A unified shared control architecture for underwater vehicle-manipulator systems using task priority",
author="Zhangpeng TU1, Yuanchao ZHU1,3, Xin WU1, Canjun YANG1,2",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="-1",
number="-1",
pages="",
year="1998",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2400471"
}
%0 Journal Article
%T A unified shared control architecture for underwater vehicle-manipulator systems using task priority
%A Zhangpeng TU1
%A Yuanchao ZHU1
%A 3
%A Xin WU1
%A Canjun YANG1
%A 2
%J Journal of Zhejiang University SCIENCE C
%V -1
%N -1
%P
%@ 2095-9184
%D 1998
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2400471
TY - JOUR
T1 - A unified shared control architecture for underwater vehicle-manipulator systems using task priority
A1 - Zhangpeng TU1
A1 - Yuanchao ZHU1
A1 - 3
A1 - Xin WU1
A1 - Canjun YANG1
A1 - 2
J0 - Journal of Zhejiang University Science C
VL - -1
IS - -1
SP -
EP -
%@ 2095-9184
Y1 - 1998
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2400471
Abstract: It is challenging for underwater vehicle-manipulator systems (UVMSs) to operate autonomously in unstructured underwater environments. Relying solely on teleoperation for both the underwater vehicle (UV) and underwater manipulator (UM) imposes a considerable cognitive and physical burden on the operator. In this paper, we propose a unified shared control (USC) architecture for the UVMS, integrating divisible shared control (DSC) and interactive shared control (ISC) to alleviate the operator ’ s workload. By applying task priority based on DSC, we divide the whole-body task into constraints, operation, and posture optimization subtasks. The robot autonomously avoids self-collisions and adjusts its posture according to the user ’ s visual preferences. ISC incorporates haptic feedback to enhance human-robot collaboration, seamlessly integrating it into the operation task via a whole-body controller for the UVMS. Simulations and pool experiments were conducted to verify the feasibility of the method.Compared to manual control (MC), the proposed method reduced completion time by 17.27%, operator input by 28.55%, and cognitive load by 35.52% in simulations, with corresponding reductions of 22.85%, 31.13%, and 29.91% in pool experiments. Subjective measurements demonstrate the reduction in operator workload with the proposed method.
Open peer comments: Debate/Discuss/Question/Opinion
<1>