SAFE PATH PLANNING AND CONTROL AN UNMANNED UNDERWATER VEHICLE (UUV) USING PARTICLE SWARM OPTIMIZATION AND FUZZY LOGIC CONTROL METHOD

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ZAKERI EHSAN; FARAHAT SAEID

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:14 Page(s): 199-210

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Title

SAFE PATH PLANNING AND CONTROL AN UNMANNED UNDERWATER VEHICLE (UUV) USING PARTICLE SWARM OPTIMIZATION AND FUZZY LOGIC CONTROL METHOD

Author(s)

ZAKERI EHSAN | FARAHAT SAEID | Issue Writer Certificate

Keywords

UNDERWATER VEHICLEQ2

SAFE AND SMOOTH PATH PLANNINGQ2

PARTICLE SWARM OPTIMIZATION METHODQ2

FUZZY CONTROLLERQ2

Abstract

In this study a SAFE AND SMOOTH PATH PLANNING containing the slightest risk is considered for an Unmanned UNDERWATER VEHICLE (UUV). To do so, three smooth and continues functions resembling the three dimensional path are introduced and then their parameters are optimized using the PARTICLE SWARM OPTIMIZATION METHOD to find the safest possible path. For each point in space a numeric value is considered as vulnerability and the objective function is the integral of the vulnerability over the path produced. This path forms controlling signals which through a TSK FUZZY CONTROLLER, the UUV is guided. The new arrangement of the propulsion vehicle subsurface was modeled. Since for the design of the controller, the parameters of the Under Water Vehicle dynamic system not used, so the control system is robust with respect to parameter Uncertainties. In the last section three environments with different complexities are considered to illustrate the creating process’s performance of the path and it is concluded that this method demonstrates desired performance in the development of a safe and smooth path through a harmful environment and the design of an adequate controller.

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APA: Copy

ZAKERI, EHSAN, & FARAHAT, SAEID. (2015). SAFE PATH PLANNING AND CONTROL AN UNMANNED UNDERWATER VEHICLE (UUV) USING PARTICLE SWARM OPTIMIZATION AND FUZZY LOGIC CONTROL METHOD. MODARES MECHANICAL ENGINEERING, 14(14), 199-210. SID. https://sid.ir/paper/178737/en

Vancouver: Copy

ZAKERI EHSAN, FARAHAT SAEID. SAFE PATH PLANNING AND CONTROL AN UNMANNED UNDERWATER VEHICLE (UUV) USING PARTICLE SWARM OPTIMIZATION AND FUZZY LOGIC CONTROL METHOD. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(14):199-210. Available from: https://sid.ir/paper/178737/en

IEEE: Copy

EHSAN ZAKERI, and SAEID FARAHAT, “SAFE PATH PLANNING AND CONTROL AN UNMANNED UNDERWATER VEHICLE (UUV) USING PARTICLE SWARM OPTIMIZATION AND FUZZY LOGIC CONTROL METHOD,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 14, pp. 199–210, 2015, [Online]. Available: https://sid.ir/paper/178737/en

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