The utilization of underwater robotic vehicles has known an increasing importance in many marine activities. The robotic vehicle is equipped with a propulsion system and controlled by a human operator. To simplify tasks of the operator, a control system guaranteeing the automation of elementary robot’s behaviours is often applied. In the paper, a control system supporting the robot spatial motion along a reference path is presented. A waypoint line-of-sight scheme is incorporated and Genetic Algorithms are applied to calculate command signals. Selected results of computer simulations are inserted to demonstrate quality and correctness of the proposed approach.
Modelling of Underwater Robotic Vehicle Motion with Using of Genetic Algorithms
Applied Mechanics and Materials ; 817 ; 177-186
2016-01-05
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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