RT Book, Section
T1 A multiobjective optimization issue: genetic control planning or trajectories.
A1 Girón Sierra, José María Ricardo
A1 Fernández-Prisuelos, J.
A1 Andrés Toro, Bonifacio de
A1 Cruz García, Jesús Manuel de la
AB Part of a research project on cooperative marine robotics is the scenario of a submarine rendez-vous. This paper considers this case, where a high-manoeuvrability AUV (autonomous underwater vehicle) should meet a submarine platform for energy, samples and data service. Since the AUV is equipped with a set of thrusters, the problem of an adequate command of the thrusters appears. Given initial and final points for the AUV underwater trajectory, the question is to determine the set of forces and times to be exerted by the thrusters to get an adequate trajectory. Several constraints and simultaneous objectives to be optimized must be considered. Given the complexity of the multi-objective optimisation problem, it seems opportune to use Genetic Algorithms. The paper describes the problem to be solved, then explains how the GA were applied, and presents results for a set of cases considered, including obstacle avoidance.
PB World Scientific and Engineering Acad and Soc
SN 960-8457-12-2
YR 2005
FD 2005
LK https://hdl.handle.net/20.500.14352/53353
UL https://hdl.handle.net/20.500.14352/53353
LA spa
NO International Conference on Automatic Control, Modeling and Simulation (7th. Mar 13-15, 2005. Praga, República Checa)
DS Docta Complutense
RD 11 abr 2025