Title :
Evolutionary algorithms for navigation of underwater vehicle
Author :
Balicki, Jerzy ; Kitowski, Zygnunt
Author_Institution :
Naval Univ. of Poland, Gdynia, Poland
Abstract :
Path planning for an underwater vehicle can be formulated as a multiobjective optimization problem, which can be solved by modern heuristic techniques. For assessment of a trajectory, three crucial criteria are used: a total length of a path, a smoothness of a trajectory, and a measure of safety. A multiobjective evolutionary algorithm for finding Pareto-optimal solutions is proposed. Then, the underwater vehicle and navigation in three dimensions is considered. Some results of numerical simulations are presented
Keywords :
evolutionary computation; mobile robots; navigation; path planning; underwater vehicles; Pareto-optimal solutions; heuristic techniques; multiobjective evolutionary algorithm; multiobjective optimization problem; navigation; safety; smoothness; underwater vehicle; Biological cells; Evolutionary computation; Genetic algorithms; Genetic mutations; Length measurement; Navigation; Numerical simulation; Path planning; Safety; Underwater vehicles;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973439
