An Autonomous Underwater Vehicle Manipulator System for Underwater Target Capturing

The operation technology of underwater vehicle manipulator system (UVMS) plays an increasingly important role in the exploration and development of marine resources. However, remotely operated vehicle (ROV) remote control requires skilled operators, which is a challenge for human-machine collaboration. We have designed an autonomous UVMS that greatly reduces dependency on operator during operations and present the overall design scheme of the designed UVMS in this paper. Besides, at the end of this paper, we present the experiment results of the designed UVMS, which show that the designed UVMS can complete autonomous approach and capturing without people's intervention.