Computational issues in motion planning for autonomous underwater vehicles with manipulators

Andrew W. Quinn, David M. Lane

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motion planning with a high number of degrees of freedom (DOF) is computationally demanding. Coupled AUV-manipulators are an example where there can be as many as 14 DOF in a typical dual-arm configuration attached to an underwater vehicle exhibiting 6 DOF motion. In an underwater environment, autonomous vehicles are required to plan motion on-line, a non-trivial task for coupled AUV-manipulators. This paper examines the computational requirements of high DOF systems and presents a technique which allows fast execution of motion plans. This technique is implemented using distributed search in a 'local' motion planning context. Distributed search is achieved through the execution of a number of subsearches in parallel, where each subsearch contains a unique subset of the DOFs in the system. It will be shown how the use of this technique increases the effectiveness of the local motion planning methodology, allowing fast execution of motion plans for systems with a high number of degrees of freedom.

Original languageEnglish
Title of host publicationProceedings of the 1994 IEEE Symposium on Autonomous Underwater Vehicle Technology; Cambridge, MA, USA; ; 19 July 1994 through 20 July 1994
Pages255-262
Number of pages8
Publication statusPublished - 1994
EventIEEE Sympsium on Autonomous Underwater Vehicle Technology 1994 - Cambridge, MA, USA
Duration: 19 Jul 199420 Jul 1994

Conference

ConferenceIEEE Sympsium on Autonomous Underwater Vehicle Technology 1994
CityCambridge, MA, USA
Period19/07/9420/07/94

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