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Review Article | Open Access

Underwater Robots and Key Technologies for Operation Control

Linxiang Sun1, Yu Wang2(), Xiaolong Hui2, Xibo Ma2,3, Xuejian Bai4, Min Tan5
School of Automation, Harbin University of Science and Technology, Harbin, China
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
School of Electrical Engineering, Liaoning University of Technology, Jinzhou, China
Institute of Automation, Chinese Academy of Sciences, Beijing, China
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Abstract

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.

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Cyborg and Bionic Systems
Volume 5,
2024
Article number: 0089
DOI: 10.34133/cbsystems.0089
Cite this article:
Sun L, Wang Y, Hui X, et al. Underwater Robots and Key Technologies for Operation Control. Cyborg and Bionic Systems, 2024, 5: 0089. https://doi.org/10.34133/cbsystems.0089
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