JZUS - Journal of Zhejiang University SCIENCE

Frontiers of Information Technology & Electronic Engineering

Accepted manuscript available online (unedited version)

A unified shared control architecture for underwater vehicle-manipulator systems using task priority

Author(s): Zhangpeng TU¹, Yuanchao ZHU^1, ³, Xin WU¹, Canjun YANG^1, ²
Affiliation(s): ¹State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; more
Corresponding email(s): ycj@zju.edu.cn
Key Words: Unified shared control; Underwater vehicle-manipulator system; Human-robot interaction; Task priority

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Zhangpeng TU¹, Yuanchao ZHU^1,³, Xin WU¹, Canjun YANG^1,². A unified shared control architecture for underwater vehicle-manipulator systems using task priority[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2400471

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author="Zhangpeng TU¹, Yuanchao ZHU^1,³, Xin WU¹, Canjun YANG^1,²",
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year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/FITEE.2400471"
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Abstract
Chinese Summary
Academic Network
Reviewer Comment

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.

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