Tham khảo tài liệu 'mobile robots perception & navigation part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Unified Dynamics-based Motion Planning Algorithm for Autonomous Underwater Vehicle-Manipulator Systems UVMS 351 We have also plotted the simulation results for surge-sway motion power requirement and energy consumption of the UVMS in case of CMP method in the left column and that of in case of proposed UDMP method in the right column in Fig. 26. Top two plots in this figure show the profile of the surge- sway movements of the vehicle in the said two methods. In case of the CMP method the vehicle changes the motion sharply and moves more as compared to the motion generated from the UDMP method. It may so happen that in practice this type of sharp and fast movements may be beyond the capability of the heavy dynamic subsystem and consequently large errors in trajectory tracking will occur. Additionally this may cause saturation of the thrusters and the actuators resulting in degradation in performance. Moreover the vehicle will experience large velocity and acceleration in CMP method that result in higher power requirement and energy consumption as we observe it in next two sets of plots in Fig. 26. Thus this investigation reveals that our proposed Unified Dynamics-Based Motion Planning method is very promising for autonomous operation of dynamic system composed of several subsystems having variable dynamic responses. 0 5 20 0 -20 05 10 10 Fig. 24. Joint-space trajectories Unified Dynamics-based Motion Planning method solid lines and Conventional Motion Planning method dashed lines . 352 Mobile Robots Perception Navigation 500 saturation limit V saturation limi 500 500 saturation limit 500 I saturation limit saturation limit 500 I saturation limit 05 0 -500 0 200 10 saturation limit 5 time sec I saturation limit 0 0 -200 saturation limit saturation limit -200 5 -200 50 200 z saturation limit 200 -200 10 0 5 10 0 5 10 time sec time sec 0 saturation limit g 2001 z 0 100 I saturation limit 05 saturation limit h I ip 10 0 5 time sec 10 I Fig. 25. Thruster and actuator .