27 March 2024 | Linxiang Sun, Yu Wang, Xiaolong Hui, Xibo Ma, Xuejian Bai, and Min Tan
This review article provides a comprehensive overview of the development status and key technologies of Underwater Vehicle-Manipulator Systems (UVMS). It highlights the challenges and advancements in UVMS, particularly in dynamic and hydrodynamic modeling, underwater positioning and navigation, and vehicle-manipulator coordinated control. The article discusses the current limitations and future directions, emphasizing the need for more autonomous and intelligent UVMS to address the limitations of Remotely Operated Vehicles (ROVs). It also reviews various control methods, including adaptive visual-servo-based control, improved non-singular terminal sliding mode control, and reinforcement learning-based approaches. The article concludes with a discussion on the future prospects of UVMS, focusing on integrating advanced technologies such as artificial intelligence, detection and recognition, information fusion, intelligent control, and system integration to achieve fully autonomous operations.This review article provides a comprehensive overview of the development status and key technologies of Underwater Vehicle-Manipulator Systems (UVMS). It highlights the challenges and advancements in UVMS, particularly in dynamic and hydrodynamic modeling, underwater positioning and navigation, and vehicle-manipulator coordinated control. The article discusses the current limitations and future directions, emphasizing the need for more autonomous and intelligent UVMS to address the limitations of Remotely Operated Vehicles (ROVs). It also reviews various control methods, including adaptive visual-servo-based control, improved non-singular terminal sliding mode control, and reinforcement learning-based approaches. The article concludes with a discussion on the future prospects of UVMS, focusing on integrating advanced technologies such as artificial intelligence, detection and recognition, information fusion, intelligent control, and system integration to achieve fully autonomous operations.