Journal ArticleDOI
Biologically Inspired Self-Organizing Map Applied to Task Assignment and Path Planning of an AUV System
TLDR
An integrated biologically inspired self-organizing map (SOM) algorithm is proposed for task assignment and path planning of an autonomous underwater vehicle (AUV) system in 3-D underwater environments with obstacle avoidance.Abstract:
An integrated biologically inspired self-organizing map (SOM) algorithm is proposed for task assignment and path planning of an autonomous underwater vehicle (AUV) system in 3-D underwater environments with obstacle avoidance. The algorithm embeds the biologically inspired neural network (BINN) into the SOM neural networks. The task assignment and path planning aim to arrange a team of AUVs to visit all appointed target locations, while assuring obstacle avoidance without speed jump. The SOM neuron network is developed to assign a team of AUVs to achieve multiple target locations in underwater environments. Then, in order to avoid obstacles and speed jump for each AUV that visits the corresponding target location, the BINN is utilized to update weights of the winner of SOM, and achieve AUVs path planning and effective navigation. The effectiveness of the proposed hybrid model is validated by simulation studies.read more
Citations
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Journal ArticleDOI
Survey on Fuzzy-Logic-Based Guidance and Control of Marine Surface Vehicles and Underwater Vehicles
TL;DR: The design and analysis process of direct/indirect adaptive fuzzy control and fuzzy PID control in marine robotic fields are summarized and trends of the fuzzy future in Marine robotic vehicles are concluded based on its state of the art.
Journal ArticleDOI
A survey of formation control and motion planning of multiple unmanned vehicles
TL;DR: A detailed survey to review a range of techniques related to the operation of multi-vehicle systems in different environmental domains, including land based, aerospace and marine with the specific focuses placed on formation control and cooperative motion planning.
Journal ArticleDOI
Recursive parameter estimation algorithm for multivariate output-error systems
TL;DR: A decomposition based recursive least squares identification method is proposed using the hierarchical identification principle and the auxiliary model idea, and its convergence is analyzed through the stochastic process theory.
Journal ArticleDOI
Path Planning Technologies for Autonomous Underwater Vehicles-A Review
Daoliang Li,Peng Wang,Ling Du +2 more
TL;DR: The most prominent feature of this paper is to summarize the improvement methods of various technical shortcomings and improve the original methods, such as dynamic obstacle avoidance, optimization path, coverage, and processing speed.
Journal ArticleDOI
Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle
TL;DR: In this paper, a simplified nonlinear fuzzy controller integrating an improved three-dimensional (3D) guidance law is proposed to address the problem of path following for an underactuated autonomous underwater vehicle (AUV) exposed to unknown environmental disturbances.
References
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Journal ArticleDOI
AUV Navigation and Localization: A Review
TL;DR: A review of the state of the art of AUV navigation and localization, as well as a description of some of the more commonly used methods, are presented and areas of future research potential are highlighted.
Journal ArticleDOI
Multi-AUV Control and Adaptive Sampling in Monterey Bay
E. Fiorelli,Naomi Ehrich Leonard,Pradeep Bhatta,Derek A. Paley,Ralf Bachmayer,David M. Fratantoni +5 more
TL;DR: In this paper, the authors describe a methodology for cooperative control of multiple AUVs based on virtual bodies and artificial potentials (VBAP) which allows for adaptable formation control and can be used for missions such as gradient climbing and feature tracking.
Journal ArticleDOI
Path Planning for Autonomous Underwater Vehicles
TL;DR: This work develops an algorithm, called FM*, to efficiently extract a 2-D continuous path from a discrete representation of the environment and takes underwater currents into account thanks to an anisotropic extension of the original FM algorithm.
Journal ArticleDOI
A neural network approach to complete coverage path planning
Simon X. Yang,Chaomin Luo +1 more
TL;DR: A novel neural network approach is proposed for complete coverage path planning with obstacle avoidance of cleaning robots in nonstationary environments and results show that the proposed model is capable of planning collision-free complete coverage robot paths.
Journal ArticleDOI
Dynamic Task Assignment and Path Planning of Multi-AUV System Based on an Improved Self-Organizing Map and Velocity Synthesis Method in Three-Dimensional Underwater Workspace
TL;DR: An integrated multiple autonomous underwater vehicle (AUV) dynamic task assignment and path planning algorithm is proposed by combing the improved self-organizing map (SOM) neural network and a novel velocity synthesis approach for a 3-D underwater workspace with a variable ocean current.