Browse > Article
http://dx.doi.org/10.5391/JKIIS.2010.20.6.831

Intelligent Path Planning and Following for Coordinated Control of Heterogeneous Marine Robots  

Kim, Hyun-Sik (동명대학교 로봇시스템공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.6, 2010 , pp. 831-836 More about this Journal
Abstract
In real system application, the path planning and following system for the coordinated control of heterogeneous marine robots based on the underwater acoustic communication has the following problems: surface and underwater robots have different maneuvering properties, an underwater robot requires more effective operating, it has a limited communication range because of the transmission loss (TL) of acoustic wave, it has a communication error because of the Doppler distortion of acoustic wave, and further, it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent path planning algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC) based on system modeling, is proposed. To verify the performance of the proposed algorithm, the path planning and following of an underwater robot is performed according to the maneuvering of a surface robot. Simulation results show that the proposed algorithm effectively solves the problems.
Keywords
Marine robot; Coordinated control; Intelligent path planning and following; Underwater acoustic communication;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 김현식, 진태석, “수중비행체의 자율제어를 위한 지능 형 장애물회피 알고리즘,” 한국지능시스템학회 논문지, 19권 5호, pp. 635-640, 2009.   과학기술학회마을   DOI
2 G. Antonelli, Underwater Robots, Springer, 2006.
3 심귀보, 이동욱, “군집 로봇의 군 행동을 위한 통신 모델과 이론적인 해석,” 한국지능시스템학회 논문지, 16권 1호, pp. 8-17, 2006.   과학기술학회마을   DOI
4 이희재, 심귀보, “침입자 포위를 위한 군집 로봇의 분산 이동 알고리즘,” 한국지능시스템학회 논문지, 19권2호, pp. 224-229, 2009.   과학기술학회마을   DOI
5 A. J. Hausler, R. Ghabcheloo, I. Kaminer, A. M.Pascoal and A. P. Aguiar, “Path planning for multiple marine vehicles", OCEANS 2009-EUROPE, 2009. OCEANS '09, pp. 1-9, 2009.
6 D. B. Fogel, Evolutionary Computation : Toward a New Philosophy of Machine Intelligence, IEEE Press, 1995.
7 C. T. Leondes, Fuzzy Theory Systems, Academic Press, 1999.
8 R. K. Lea, R. Allen and S. L. Merry, “A comparative study for control techniques for an underwater flight vehicle,” International Journal of System Science, vol. 30, pp. 947-964, 1999.   DOI
9 J. Yuh, “Modeling and control of underwater robotic vehicles,” IEEE Transactions on Man and Cybernetics, vol. 20, no. 6, pp. 1475-1483, 1990.   DOI
10 Y. Bar-Shalom and X.-R. Li, Estimation and Tracking Principles, Techniques and Software, Artech House, Inc, 1993.