Universidad Complutense de Madrid
E-Prints Complutense

A multiobjective optimization issue: genetic control planning or trajectories.

Impacto

Downloads

Downloads per month over past year



Girón Sierra, José María and Fernández-Prisuelos, J. and Andrés Toro, Bonifacio de and Cruz García, Jesús Manuel de la (2005) A multiobjective optimization issue: genetic control planning or trajectories. In Proceedings of the 7th WSEAS International Conference on Automatic Control, Modeling and Simulation. World Scientific and Engineering Acad and Soc, pp. 295-300. ISBN 960-8457-12-2

[img]
Preview
PDF
417kB

Official URL: http://dl.acm.org/ft_gateway.cfm?id=1983373&ftid=974798&dwn=1&CFID=443426395&CFTOKEN=56215869


URLURL Type
http://dl.acm.orgPublisher


Abstract

Part of a research project on cooperative marine robotics is the scenario of a submarine rendez-vous. This paper considers this case, where a high-manoeuvrability AUV (autonomous underwater vehicle) should meet a submarine platform for energy, samples and data service. Since the AUV is equipped with a set of thrusters, the problem of an adequate command of the thrusters appears. Given initial and final points for the AUV underwater trajectory, the question is to determine the set of forces and times to be exerted by the thrusters to get an adequate trajectory. Several constraints and simultaneous objectives to be optimized must be considered. Given the complexity of the multi-objective optimisation problem, it seems opportune to use Genetic Algorithms. The paper describes the problem to be solved, then explains how the GA were applied, and presents results for a set of cases considered, including obstacle avoidance.


Item Type:Book Section
Additional Information:

International Conference on Automatic Control, Modeling and Simulation (7th. Mar 13-15, 2005. Praga, República Checa)

Uncontrolled Keywords:Automation and Control Systems, Operations Research and Management Science, Mathematics Applied.
Subjects:Sciences > Computer science
ID Code:25301
Deposited On:09 May 2014 07:38
Last Modified:09 May 2014 07:38

Origin of downloads

Repository Staff Only: item control page