Modelling of Underwater Robotic Vehicle Motion with Using of Genetic Algorithms

Abstract:

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.

• Periodical: Applied Mechanics and Materials (Volume 817)
• Pages: 177-186
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.817.177
• Online since: January 2016
• Authors: Jerzy Garus*, Ryszard Studański, Pero Vidan
• Keywords: Genetic Algorithms, Path-Following Control, Underwater Robot

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