Modelling of Underwater Robotic Vehicle Motion with Using of Genetic Algorithms

2016 ◽  
Vol 817 ◽  
pp. 177-186
Author(s):  
Jerzy Garus ◽  
Ryszard Studański ◽  
Pero Vidan
Keyword(s):  
Genetic Algorithms ◽  
Control System ◽  
Computer Simulations ◽  
Human Operator ◽  
Line Of Sight ◽  
Spatial Motion ◽  
Vehicle Motion ◽  
Robotic Vehicle ◽  
Command Signals ◽  
Underwater Robotic Vehicle

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.

scholarly journals APPLICATION OF SOFT COMPUTING TECHNIQUES TO MOTION CONTROL OF UNDERWATER ROBOTIC VEHICLE

2014 ◽  
Vol 46 (1) ◽  
pp. 4-13
Author(s):  
Jerzy Garus ◽  
Józef Małecki
Keyword(s):  
Line Of Sight ◽  
Control Law ◽  
Environmental Disturbances ◽  
Quality Of Control ◽  
Soft Computing Techniques ◽  
Robotic Vehicle ◽  
Command Signals ◽  
Point Line ◽  
Underwater Robotic Vehicle

Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.

scholarly journals Evaluating Alternative Flight Plans in Thermal Drone Wildlife Surveys—Simulation Study

2021 ◽  
Vol 13 (6) ◽  
pp. 1102
Author(s):  
Julia Witczuk ◽  
Stanisław Pagacz
Keyword(s):  
Computer Simulations ◽  
Survey Design ◽  
Distance Sampling ◽  
Line Of Sight ◽  
Density Estimates ◽  
Accuracy And Precision ◽  
Survey Costs ◽  
Random Survey ◽  
Density Population

The rapidly developing technology of unmanned aerial vehicles (drones) extends to the availability of aerial surveys for wildlife research and management. However, regulations limiting drone operations to visual line of sight (VLOS) seriously affect the design of surveys, as flight paths must be concentrated within small sampling blocks. Such a design is inferior to spatially unrestricted randomized designs available if operations beyond visual line of sight (BVLOS) are allowed. We used computer simulations to assess whether the VLOS rule affects the accuracy and precision of wildlife density estimates derived from drone collected data. We tested two alternative flight plans (VLOS vs. BVLOS) in simulated surveys of low-, medium- and high-density populations of a hypothetical ungulate species with three levels of effort (one to three repetitions). The population density was estimated using the ratio estimate and distance sampling method. The observed differences in the accuracy and precision of estimates from the VLOS and BVLOS surveys were relatively small and negligible. Only in the case of the low-density population (2 ind./100 ha) surveyed once was the VLOS design inferior to BVLOS, delivering biased and less precise estimates. These results show that while the VLOS regulations complicate survey logistics and interfere with random survey design, the quality of derived estimates does not have to be compromised. We advise testing alternative survey variants with the aid of computer simulations to achieve reliable estimates while minimizing survey costs.

scholarly journals REDUCTION OF VIBRATIONS IN ELECTROMECHANICAL DRIVE SYSTEMS WITH VECTOR CONTROL

Transport ◽  
2004 ◽  
Vol 19 (6) ◽  
pp. 276-279
Author(s):  
Paweł Bachorz ◽  
Eugeniusz Switoński ◽  
Arkadiusz Meżyk
Keyword(s):  
Genetic Algorithms ◽  
Control System ◽  
Vector Control ◽  
Structural Parameters ◽  
Power Drive ◽  
Design Variables ◽  
Electromechanical Drive ◽  
Pi Controllers ◽  
Drive Systems ◽  
Vector Control System

This paper presents the issues of modelling electromechanical drive systems in a mechatronic approach. The effect of a vector control system on the dynamics of the system is shown. The optimisation of the system in order to minimise vibration amplitudes and amplitudes of forces in selected kinematic pairs of a high power drive system was performed with the use of genetic algorithms. Design variables of the optimisation process comprised the structural parameters of the mechanical part as well as the settings of PI controllers of the vector control system. The selected results of numerical computations are presented.

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