Path Planning Method for UUV Homing and Docking in Movement Disorders Environment
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...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/246469 |
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| _version_ | 1832563204411097088 |
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| author | Zheping Yan Chao Deng Dongnan Chi Tao Chen Shuping Hou |
| author_facet | Zheping Yan Chao Deng Dongnan Chi Tao Chen Shuping Hou |
| author_sort | Zheping Yan |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-213cd232a47944be93d665c900bd3521 |
| institution | Kabale University |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-213cd232a47944be93d665c900bd35212025-02-03T01:20:43ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/246469246469Path Planning Method for UUV Homing and Docking in Movement Disorders EnvironmentZheping Yan0Chao Deng1Dongnan Chi2Tao Chen3Shuping Hou4College of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaBeijing Institute of Space Mechanics & Electricity, Beijing 100094, ChinaCollege of Automation, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, ChinaPath 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.http://dx.doi.org/10.1155/2014/246469 |
| spellingShingle | Zheping Yan Chao Deng Dongnan Chi Tao Chen Shuping Hou Path Planning Method for UUV Homing and Docking in Movement Disorders Environment The Scientific World Journal |
| title | Path Planning Method for UUV Homing and Docking in Movement Disorders Environment |
| title_full | Path Planning Method for UUV Homing and Docking in Movement Disorders Environment |
| title_fullStr | Path Planning Method for UUV Homing and Docking in Movement Disorders Environment |
| title_full_unstemmed | Path Planning Method for UUV Homing and Docking in Movement Disorders Environment |
| title_short | Path Planning Method for UUV Homing and Docking in Movement Disorders Environment |
| title_sort | path planning method for uuv homing and docking in movement disorders environment |
| url | http://dx.doi.org/10.1155/2014/246469 |
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