Genetic planning of control actions for a high maneuvrability AUV
| dc.book.title | Oceans 2005 - Europe | |
| dc.contributor.author | Fernández-Prisuelos, J. | |
| dc.contributor.author | Andrés Toro, Bonifacio de | |
| dc.contributor.author | Girón Sierra, José María Ricardo | |
| dc.contributor.author | Cruz García, Jesús Manuel de la | |
| dc.contributor.author | Riola, J. M. | |
| dc.date.accessioned | 2023-06-20T13:40:30Z | |
| dc.date.available | 2023-06-20T13:40:30Z | |
| dc.date.issued | 2005 | |
| dc.description | © 2005 IEEE. The authors would like to thank the Spanish MCYT, “Ministerio de Ciencia y Tecnologia”, for their support (project DPl2003-09745-CO4-02). Oceans 2005 Europe International Conference(22-23 June, 2005. Brest, Francia) | |
| dc.description.abstract | For certain operations the control of AUV motions is subject to difficulties, due to motion coupling. In this paper a high manoeuvrability AUV is considered, with only thrusters for motion control. A Genetic planning of the control actions has been devised, considering a multiobjective optimisation problem, which includes energy and time saving, and smooth operation with realistic control actions. Since the inertia of the submergible filters out control brisk changes, it turns out that there are many almost equivalent control strategies obtaining similar trajectories. This is why the characteristics of the control actions have been included as part of the multiobjective optimisation. Several diving scenarios have been specified, including obstacles. The paper begins with a description of the AUV and the control problem, then it focus on the multiobjective optimisation problem and the genetic planning to solve the problem, then it considers several scenarios and present optimal results; finally, the paper comes to conclusions and future research, which will be experimental. | |
| dc.description.department | Sección Deptal. de Arquitectura de Computadores y Automática (Físicas) | |
| dc.description.faculty | Fac. de Ciencias Físicas | |
| dc.description.refereed | TRUE | |
| dc.description.sponsorship | MCYT | |
| dc.description.status | pub | |
| dc.eprint.id | https://eprints.ucm.es/id/eprint/24540 | |
| dc.identifier.isbn | 0-7803-9103-9 | |
| dc.identifier.officialurl | http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1513233 | |
| dc.identifier.relatedurl | http://ieeexplore.ieee.org | |
| dc.identifier.uri | https://hdl.handle.net/20.500.14352/53331 | |
| dc.language.iso | eng | |
| dc.page.final | 1225 | |
| dc.page.initial | 1220 | |
| dc.publisher | IEEE | |
| dc.relation.projectID | DPl2003-09745-CO4-02 | |
| dc.rights.accessRights | open access | |
| dc.subject.cdu | 004 | |
| dc.subject.keyword | Underwater Vehicles | |
| dc.subject.ucm | Informática (Informática) | |
| dc.subject.unesco | 1203.17 Informática | |
| dc.title | Genetic planning of control actions for a high maneuvrability AUV | |
| dc.type | book part | |
| dc.volume.number | 1- 2 | |
| dcterms.references | [1] S. Esteban, 3. Andres-Toro, E. Besada-Portas, J.M. Girón-Sierra, and J.M. De la Cruz, “Multiobjective control of flaps and T-foil in high speed ships”, in Proceedings IFAC 2002 World Congress, 2002. [2]T.J. Fossen, Marine Control Systems, Marine Cybernetics, AS, 2002. [3] M. Kwiesielewicz, W. Piotrowski, R. Smierzchalski, and R. Sutton, “AUV path planning for navigational constraints by evolutionary computation”, in Proceedings IFAC MCMC 2000, 2000, 2000 pp. 323-326. [4] A. Alvarez, A. Caiti, and R. Onken, “Evolutionary path planning for autonomous underwater vehicles in variable ocean”, IEEE Trans. Oceanic Engineering, vol.29, n.2, pp. 418-429, April, 2004. [5] E. Kyrkjebo, M. Wondergem, K.Y. Pettersen, and H. Nijmeijer, “Experimental results on synchronization control of ship rendezvous operations”, in Proceedings IFAC CAMS 2004,2004, pp. 453-458. [6] D.J. Stilwell, and B.E. Bishop, “Platoons of underwater vehicles”, IEEE Control Systems Magazine, v01.20, pp. 45 52, December, 2000. [7] D. Soetanto, L. Lapierre, and A. Pascoal, “Coordinated motion control of marine robots”, in Proceedings IFAC MCMC 2003, 2003, pp. 250-255. [8] E. Besada-Portas, B. Andres-Toro, and J.A. Lopez-Orozco, “EVOCOM ver. 2.0. A multipurpose evolutionary algorithm toolbox”, DACYA Internal Report, Dep.. DACYA, Fac. CC. Físicas, Universidad Complutense de Madrid, Spain, (2000). [9] Z. Michdewicz, Genetic Algorithms + Data Structures = Evolution Program, Springer-Verlag, 1999. | |
| dspace.entity.type | Publication | |
| relation.isAuthorOfPublication | 528ed45e-3f1d-488d-a0e4-0ed88ca2370e | |
| relation.isAuthorOfPublication.latestForDiscovery | 528ed45e-3f1d-488d-a0e4-0ed88ca2370e |
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