PATH PLANNING & TRAJECTORY TRACKING OF AUVS IN DYNAMIC ENVIRONMENTS USING INTELLIGENT CONVERTED SOLUTION AND CLASSICAL METHODS

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SAYADI HASAN; BABAKHANI A.R.

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Paper Information

Journal: JOURNAL OF MARINE ENGINEERING Year:2009 | Volume:5 | Issue:9 Page(s): 19-34

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Information Journal Paper

Title

PATH PLANNING & TRAJECTORY TRACKING OF AUVS IN DYNAMIC ENVIRONMENTS USING INTELLIGENT CONVERTED SOLUTION AND CLASSICAL METHODS

Author(s)

SAYADI HASAN | BABAKHANI A.R. | Issue Writer Certificate

Keywords

PATH PLANNINGQ2

CONTROLQ3

MOVING OBSTACLESQ3

AUTONOMOUS UNDERWATER VEHICLES (AUVS)Q3

DYNAMIC PROGRAMMINGQ3

HAMILTONIAN FUNCTIONQ3

NEURAL NETWORKQ3

INTELLIGENT CONVERTED SOLUTIONQ3

Abstract

In this paper, first a sample Autonomous Underwater Vehicle called NEROV from the University of Trondheim of Norway has been selected with its equations of motion and by using DYNAMIC PROGRAMMING approach; optimal paths for consuming energy have been designed. There are MOVING OBSTACLES in the environment wherein the robot moves. It is seen that the planned paths is smooth and the energy used for the robot is minimized. After planning the path, a CONTROL system has been designed for by using Slotine & Li algorithm. In this paper, the interaction between the robot dynamics and environmental effects due to the obstacles dynamics is ignored. In the final stage of the PATH PLANNING, using an INTELLIGENT CONVERTED SOLUTION (ICS), an optimal path is designed for the vehicle and employing the same CONTROL system, the optimal path is tracked.

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APA: Copy

SAYADI, HASAN, & BABAKHANI, A.R.. (2009). PATH PLANNING & TRAJECTORY TRACKING OF AUVS IN DYNAMIC ENVIRONMENTS USING INTELLIGENT CONVERTED SOLUTION AND CLASSICAL METHODS. JOURNAL OF MARINE ENGINEERING, 5(9), 19-34. SID. https://sid.ir/paper/60899/en

Vancouver: Copy

SAYADI HASAN, BABAKHANI A.R.. PATH PLANNING & TRAJECTORY TRACKING OF AUVS IN DYNAMIC ENVIRONMENTS USING INTELLIGENT CONVERTED SOLUTION AND CLASSICAL METHODS. JOURNAL OF MARINE ENGINEERING[Internet]. 2009;5(9):19-34. Available from: https://sid.ir/paper/60899/en

IEEE: Copy

HASAN SAYADI, and A.R. BABAKHANI, “PATH PLANNING & TRAJECTORY TRACKING OF AUVS IN DYNAMIC ENVIRONMENTS USING INTELLIGENT CONVERTED SOLUTION AND CLASSICAL METHODS,” JOURNAL OF MARINE ENGINEERING, vol. 5, no. 9, pp. 19–34, 2009, [Online]. Available: https://sid.ir/paper/60899/en

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