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.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Genetic planning of control actions for a high manoeuvrability AUV


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2005


    Format / Umfang :

    6 Seiten, 9 Quellen




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Manoeuvrability at high speeds

    Yates, A.H. | Engineering Index Backfile | 1952


    Manoeuvrability at high speed

    Petersen, B.G. | Engineering Index Backfile | 1954


    Manoeuvrability at High Speeds

    Yates, A.H. | Emerald Group Publishing | 1952


    Rudder control and manoeuvrability of ships

    Collacott, R.A. | Engineering Index Backfile | 1943


    Rudder control and manoeuvrability of ships

    Collacott, R.A. | Engineering Index Backfile | 1943