Construction of Motion Planning and Control System for UVMS Manipulator Based on MoveIt
Chao Zhu, Deda Kong, Shouxu Zhang, Yang Zhao, Xiaoxu Liu · IFAC-PapersOnLine · 2025
To address the motion control requirements of underwater vehicle-manipulator systems (UVMS) in complex environments, this study proposes an integrated ROS-based simulation and motion planning method. By combining the MoveIt motion planning framework with the Gazebo physics engine, a high-fidelity virtual control and dynamic simulation platform for UVMS is established. Key tasks include configuring the URDF model of the manipulator, optimizing kinematic solutions, collision detection, and implementing path planning algorithms. Additionally, multi-joint cooperative control is achieved using the ros_control framework. Experimental results demonstrate that the system effectively supports obstacle-avoidance trajectory generation and precise motion control in dynamic environments, providing a reliable simulation verification foundation for underwater operational tasks.