Semi-autonomous UVMS simulation: vehicle and manipulator pose control using artificial markers for localization

This work describes the developing and simulation of semi-autonomous Underwater Vehicle Manipulator System (UVMS) operation. It is the sequel from our previous paper on Remote underwater Operation Vehicle (ROV) pose control [1]. We designed a methodology that helps UVMS operators to perform its tasks. This method locates underwater structures and pre-allocate the UVMS itself and its manipulator in a pose that facilitates the operation. Every sensor and actuator used are already available in commercial UVMS. We tested our development in a virtual 3D simulation using ROS and Gazebo. We utilized Musa Manhães [2] environment and BIR* underwater structure from our previous work. The simulation presented good results with small localization and positioning error, despite underwater environment issues. Key-words: UVMS, ROV, manipulator, control, simulation.