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دوره 20، شماره 42 - ( 1-1403 )
جلد 20 شماره 42 صفحات 78-64 |
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Sabet M, Nourmohammadi H. Path following and Cooperative Motion of Autonomous Underwater Vehicles Based on Leader-Follower method. Marine Engineering 2024; 20 (42) :64-78
URL: http://marine-eng.ir/article-1-1088-fa.html
URL: http://marine-eng.ir/article-1-1088-fa.html
ثابت محمدتقی، نورمحمدی حسین. دنبالیابی مسیر و حرکت گروهی روندههای زیرسطحی خودگردان بر مبنای روش رهبر-پیرو. مهندسی دریا. 1403; 20 (42) :64-78
1- دانشگاه صنعتی مالک اشتر-پژوهشکده علوم و فناوری شمال
2- دانشگاه صنعتی مالک اشتر- پژوهشکده علوم و فناوری شمال
2- دانشگاه صنعتی مالک اشتر- پژوهشکده علوم و فناوری شمال
چکیده: (275 مشاهده)
با افزایش پیچیدگی ماموریتهای زیر آب، محققان علاقه زیادی به طراحی و ساخت روندههای زیرسطحی خودگردان با قابلیت حرکت هماهنگ و گروهی پیدا کردند. در اجراء یک ماموریت پیچیده، سامانههای گروهی بر یک رونده تنها برتری خاصی دارند. در این مقاله هدف طراحی کنترل کننده هوشمند برای کنترل گروهی از روندههای زیرسطحی خودگردان با معماری رهبر-پیرو مقاوم است. در سامانه کنترل گروهی رهبر-پیرو از کنترل گروهی مبتنی بر رفتار نیز در طراحی الگوریتم بهره میگیریم، تا در مواقع رخدادهای پیش بینی نشده سامانه کنترل گروهی دچار اختلالات خاصی نشود. برای بررسی صحت عملکرد روش پیشنهادی در شرایط مختلف و در حضور نواقص قابل رخداد، از شبیهسازی در محیط نرمافزار متلب استفاده شده است.
نوع مطالعه: مقاله پژوهشي |
موضوع مقاله:
طراحي، هیدروديناميك و ساخت زيرسطحي
دریافت: 1402/9/27 | پذیرش: 1403/2/23
دریافت: 1402/9/27 | پذیرش: 1403/2/23
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