طراحی و تعقیب مسیر رباتهای زیرسطحی در محیطهای دینامیک با استفاده از روشهای حل تبدیل هوشمند و کلاسیک

In this paper, first a sample Autonomous Underwater Vehicle called NEROV from the University of Trondheim of Norway has been selected with its equations of motion and by using dynamic programming approach optimal paths for consuming energy have been designed. There are moving obstacles in the environment wherein the robot moves. It is seen that the planned paths is smooth and the energy used for the robot is minimized. After planning the path, a control system has been designed for by using Slotine&Li algorithm. In this paper, the interaction between the robot dynamics and environmental effects due to the obstacles dynamics is ignored. In the final stage of the path planning, using an Intelligent Converted Solution (ICS), an optimal path is designed for the vehicle and employing the same control system, the optimal path is tracked.