Three-Dimensional Path Planning Method for Autonomous Underwater Vehicle Based on Modified Firefly Algorithm
نویسندگان
چکیده
منابع مشابه
A topology control algorithm for autonomous underwater robots in three-dimensional space using PSO
Recently, data collection from seabed by means of underwater wireless sensor networks (UWSN) has attracted considerable attention. Autonomous underwater vehicles (AUVs) are increasingly used as UWSNs in underwater missions. Events and environmental parameters in underwater regions have a stochastic nature. The target area must be covered by sensors to observe and report events. A ‘topology cont...
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Path planning for uninhabited combat air vehicle (UCAV) is a complicated high dimension optimization problem, which mainly centralizes on optimizing the flight route considering the different kinds of constrains under complicated battle field environments. Original firefly algorithm (FA) is used to solve the UCAV path planning problem. Furthermore, a new modified firefly algorithm (MFA) is prop...
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An Autonomous Underwater Vehicle (AUV) should carry out complex tasks in a limited time interval. Since existing AUVs have limited battery capacity and restricted endurance, they should autonomously manage mission time and the resources to perform effective persistent deployment in longer missions. Task assignment requires making decisions subject to resource constraints, while tasks are assign...
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recently, data collection from seabed by means of underwater wireless sensor networks (uwsn) has attracted considerable attention. autonomous underwater vehicles (auvs) are increasingly used as uwsns in underwater missions. events and environmental parameters in underwater regions have a stochastic nature. the target area must be covered by sensors to observe and report events. a ‘topology cont...
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In this paper a new method is introduced for path planning of an autonomous vehicle. In this method, the environment is considered cluttered and with some uncertainty sources. Thus, the state of detected object should be estimated using an optimal filter. To do so, the state distribution is assumed Gaussian. Thus the state vector is estimated by a Kalman filter at each time step. The estimation...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2015
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2015/561394