Imperial College London
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DrSenWang

Faculty of Engineering, Department of Electrical and Electronic Engineering

Senior Lecturer
 
 
 
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Contact

 

sen.wang

 
 
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Location

 

Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Wang:2022:10.1109/ACIRS55390.2022.9845614,
author = {Wang, C and Zhang, Q and Wang, X and Xu, S and Petillot, Y and Wang, S},
doi = {10.1109/ACIRS55390.2022.9845614},
pages = {176--182},
title = {Autonomous Underwater Robotic Grasping Research Based on Navigation and Hierarchical Operation},
url = {http://dx.doi.org/10.1109/ACIRS55390.2022.9845614},
year = {2022}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - This paper proposes a new framework for the autonomous underwater operation of underwater vehicle manipulator systems (UVMS), which is modular, standardized, and hierarchical. The framework consists of three subsystems: perception, navigation, and grasping. The perception module is based on an underwater stereo vision system, which provides effective environment and target information for the navigation and grasping modules. The navigation module is based on ORBSLAM and acoustic odometry, which generates the global map and plans a trajectory for the first initial stage. The grasping module generates the target grasping pose based on the extracted point cloud and the current robot state, and then executes the grasping task based on the motion planner. The proposed system is tested to perform several underwater target grasping tasks in a water tank, demonstrating the effectiveness of the system.
AU  - Wang,C
AU  - Zhang,Q
AU  - Wang,X
AU  - Xu,S
AU  - Petillot,Y
AU  - Wang,S
DO  - 10.1109/ACIRS55390.2022.9845614
EP  - 182
PY  - 2022///
SP  - 176
TI  - Autonomous Underwater Robotic Grasping Research Based on Navigation and Hierarchical Operation
UR  - http://dx.doi.org/10.1109/ACIRS55390.2022.9845614
ER  -
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