Path Planning Method for UUV Homing and Docking in Movement Disorders Environment

Joint Authors

Hou, Shuping
Chi, Dongnan
Deng, Chao
Chen, Tao
Yan, Zheping

Source

The Scientific World Journal

Issue

Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-13, 13 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2014-06-22

Country of Publication

Egypt

No. of Pages

13

Main Subjects

Medicine
Information Technology and Computer Science

Abstract EN

Path planning method for unmanned underwater vehicles (UUV) homing and docking in movement disorders environment is proposed in this paper.

Firstly, cost function is proposed for path planning.

Then, a novel particle swarm optimization (NPSO) is proposed and applied to find the waypoint with minimum value of cost function.

Then, a strategy for UUV enters into the mother vessel with a fixed angle being proposed.

Finally, the test function is introduced to analyze the performance of NPSO and compare with basic particle swarm optimization (BPSO), inertia weight particle swarm optimization (LWPSO, EPSO), and time-varying acceleration coefficient (TVAC).

It has turned out that, for unimodal functions, NPSO performed better searching accuracy and stability than other algorithms, and, for multimodal functions, the performance of NPSO is similar to TVAC.

Then, the simulation of UUV path planning is presented, and it showed that, with the strategy proposed in this paper, UUV can dodge obstacles and threats, and search for the efficiency path.

American Psychological Association (APA)

Yan, Zheping& Deng, Chao& Chi, Dongnan& Chen, Tao& Hou, Shuping. 2014. Path Planning Method for UUV Homing and Docking in Movement Disorders Environment. The Scientific World Journal،Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1048885

Modern Language Association (MLA)

Yan, Zheping…[et al.]. Path Planning Method for UUV Homing and Docking in Movement Disorders Environment. The Scientific World Journal No. 2014 (2014), pp.1-13.
https://search.emarefa.net/detail/BIM-1048885

American Medical Association (AMA)

Yan, Zheping& Deng, Chao& Chi, Dongnan& Chen, Tao& Hou, Shuping. Path Planning Method for UUV Homing and Docking in Movement Disorders Environment. The Scientific World Journal. 2014. Vol. 2014, no. 2014, pp.1-13.
https://search.emarefa.net/detail/BIM-1048885

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1048885