This project implements a Task Priority Control on an Underwater Floating Manipulator System. The code is written in MATLAB and simulated on a provided Unity-based simulation.
Results are tested on two different UVMs: Robust (exercises1-4) and Dexrov (exercises 5-6). For the Robust UVM we implemented a control based on 4 consecutive actions: Safe Waypoint Navigation, Vehicle/rock Alignment, Basic Landing Action, the Fixed-Base Manipulation. For the DexROV we implemented 2 of the aforementioned actions (Safe WaypointNavigation and Fixed-Base Manipulation) and we adopted a parallel coordination scheme to split the control of the vehicle and of the arm.