Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints

المؤلف

Seto, M. L.

المصدر

Journal of Robotics

العدد

المجلد 2012، العدد 2012 (31 ديسمبر/كانون الأول 2012)، ص ص. 1-10، 10ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2012-04-10

دولة النشر

مصر

عدد الصفحات

10

التخصصات الرئيسية

هندسة ميكانيكية

الملخص EN

The objective is to show that on-board mission replanning for an AUV sensor coverage mission, based on available energy, enhances mission success.

Autonomous underwater vehicles (AUVs) are tasked to increasingly long deployments, consequently energy management issues are timely and relevant.

Energy shortages can occur if the AUV unexpectedly travels against stronger currents, is not trimmed for the local water salinity has to get back on course, and so forth.

An on-board knowledge-based agent, based on a genetic algorithm, was designed and validated to replan a near-optimal AUV survey mission.

It considers the measured AUV energy consumption, attitudes, speed over ground, and known response to proposed missions through on-line dynamics and control predictions.

For the case studied, the replanned mission improves the survey area coverage by a factor of 2 for an energy budget, that is, a factor of 2 less than planned.

The contribution is a novel on-board cognitive capability in the form of an agent that monitors the energy and intelligently replans missions based on energy considerations with evolutionary methods.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Seto, M. L.. 2012. Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints. Journal of Robotics،Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-480079

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Seto, M. L.. Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints. Journal of Robotics No. 2012 (2012), pp.1-10.
https://search.emarefa.net/detail/BIM-480079

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Seto, M. L.. Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-480079

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-480079