Well, you're definitely going to be confused if you've never seen this series' anime version (it used to air on Cartoon Network), but it's still worth checking out even if you haven't. I am a huge fan of the Tenchi franchise but I was a bit disappointed with this manga because the storyline was different from the anime (the original 13 episodes, otherwise known as the OVA) I love so much, but it does have its good points: the artwork is among the best I've ever seen for its genre and the content is funny and interesting. (or at least to me it was)
Unfortunately, I was also disappointed to find out that it had been "flopped" and was much bigger in size than the original volume, not to mention the full-color inserts had not been kept in, but I was kind of expecting that.
Anyways, I really enjoyed it nonetheless and highly recommend it, although I personally think the anime is better.
It was great to see this series in manga format, though.