Using of soft computing techniques to control of underwater robot

Garus, Jerzy; Żak, Bogdan

doi:10.1109/mmar.2010.5587198

Cited by 14 publications

(18 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The cooperative game will be an ordered pair having the form [1]: Г = (N, υ) (5) where: N = {1, ..., n, ..., N} -the set of player numbers υ:2 N →ℜ l -the characteristic function of the game.…”

Section: Cooperative Actionmentioning

confidence: 99%

Controlling a team of unmanned underwater vehicles performing water region search tasks

Zak

2013

Polish Maritime Research

View full text Add to dashboard Cite

are to be discussed, including communication between the vehicles, coordination of actions, performing negotiations, and many others.The computer sciences make more and more frequent use of multi-agent systems, especially to solve problems of distributed nature, or those requiring complicated calculations. The multiagent system comprises a number of agents which communicate and cooperate with each other to perform a common task. The mechanism of the multi-agent system can be easily adopted to control the team of cooperating underwater vehicles in which each vehicle is treated as an individual agent.Below presented is a concept of a multi-agent system which was used to perform a task of water region search by a team of cooperating underwater vehicles. The team is assumed to consist of homogeneous and cable-free underwater vehicles equipped with instruments for navigation, technical observation and communication used for data exchange between the vehicles. The underwater vehicles have docking stations situated at one point of the water region, where they can load their internal energy sources, transmit the collected data and receive commands to start work. The shape of the searched water region is defined by the vertexes of the polygon enclosing the region. The water region is divided by the superior system into areas, each of which is to be searched by a single ABSTRACT The article discusses a problem of performing a mission and controlling a team of unmanned underwater vehicles which perform a task of water region search. The team of underwater vehicles has been modelled as a multi-agent system, which made it possible to use the mechanism of multi-agent systems for controlling the team of cooperating underwater vehicles, with each vehicle being treated as an individual agent. Solutions to cooperation problems in multi-agent systems were proposed, including the presentation of the system structure and the data exchange method. Issues relating to cooperation actions in the team of underwater vehicles were described and solved using the theory of games and the vector quality index. The process of negotiations between the vehicles was modelled as the multiplayer cooperative game, which secured successful realisation of the task performed by the team of vehicles with respect to time

show abstract

Section: Cooperative Actionmentioning

confidence: 99%

Controlling a team of unmanned underwater vehicles performing water region search tasks

Zak

2013

Polish Maritime Research

View full text Add to dashboard Cite

show abstract

“…There is very much literature investigating the design of the path following controller, and different algorithms are introduced into it, such as classic and variant PID control [13,14], fuzzy control [15], sliding mode control [16], backstepping control [17], and so on. According to engineering practice, the ship model has the characteristics of nonlinearity and uncertainty due to the continuous change of operating conditions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

Wang

Fan

et al. 2017

Applied Sciences

View full text Add to dashboard Cite

This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from the general propeller-rudder propulsion device, and its essence is a vector thruster. Therefore, first, through various assumptions and simplification, the three-degree of freedom (DOFs) planar motion model of the podded propulsion USV is established. Then, the classical line-of-sight (LOS) guidance strategy is improved by adaptive sideslip angle and a time-varying lookahead distance. Based on the guidance system, the corresponding controllers for yaw rate and surge speed are presented, which are combined by backstepping technology, the neural network minimum parameter learning method and the neural shunting model. Specifically, the neural network minimum parameter learning method is proposed to compensate the uncertainty of the model and the immeasurability of external disturbances, and the neural shunting model is employed to cope with the "explosion of complexity" problem of backstepping. Meanwhile, an auxiliary dynamic system is introduced to prevent actuator saturation (input saturation). All error signals of the system are proven to be uniformly ultimately bounded (UUB) by employing Lyapunov stability theory. Finally, two numerical simulations are given to prove the correctness of the proposed scheme.

show abstract

“…There have been a number of results focused on the subject of designing path following strategies [1,2,3,4,5,6,7,8,9,10,11,12]. A complete path following strategy consists of three parts: the path planing, the guidance, and the velocity controller.…”

Section: Introductionmentioning

confidence: 99%

“…A popular and effective guidance algorithm adopted in path following is the LOS guidance [4,5,6,7,8,9]. In [5], an LOS based path following design is presented for pipe surveying using a low cost autonomous vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…In [5], an LOS based path following design is presented for pipe surveying using a low cost autonomous vehicle. In [6], an LOS principle in 3D is proposed in path following design for an underwater robotic vehicle. One limitation in [5,6] is that the sideslip angle, which represents the angle between vehicle's moving orientation and the vehicle's heading, is ignored.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path following of marine surface vehicles with dynamical uncertainty and time-varying ocean disturbances

2016

View full text Add to dashboard Cite

Using of soft computing techniques to control of underwater robot

Cited by 14 publications

References 4 publications

Controlling a team of unmanned underwater vehicles performing water region search tasks

Controlling a team of unmanned underwater vehicles performing water region search tasks

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

Path following of marine surface vehicles with dynamical uncertainty and time-varying ocean disturbances

Contact Info

Product

Resources

About