Write your message

فراخوان ارسال مقالات انگلیسی حوزه دریا و فراساحل    www.ijmt.ir

XML Persian Abstract Print


1- Malek-Ashtar Industrial University
Abstract:   (419 Views)
Obstacles avoidance problem plays a key role in the performance of the Autonomous Underwater Vehicles (AUVs). Obstacle detection is the first step in the process of crossing an obstacle. Sonar is the most used obstacles detection equipment in aquatic environments. In this research work, a forward looking sonar model is presented to calculate the distance and direction relative to the obstacle which is used in potential function to generate a virtual repulsion force to obstacles avoidance. The main path is due to the line of sight guidance method and appropriate side angle is generated by combining repulsive force in x-y plane to deviate from the main path and leads away from the obstacle. To optimize the side angle, the multiplication gain of distance and bearing weighting functions is applied based on fuzzy logic. The validity of the proposed obstacles avoidance algorithm is investigated in 6-DOF dynamical model of an AUV. The results indicate the appropriate performance of the proposed algorithm.
Full-Text [PDF 1050 kb]   (205 Downloads)    
Type of Study: Technical Note | Subject: Submarine Hydrodynamic & Design
Received: 2020/07/3 | Accepted: 2020/12/30

References
1. T. Wilschut "An Obstacle Avoidance Algorithm for a Mobile Robot Based upon the Potential Field Method" Eindhoven University of Technology, November 2011.
2. Basant Kumar Sahu "Development Of Path Following and Cooperative Motion Control Algorithms for Autonomous Underwater Vehicles" Doctor of Philosophy, Department of Electrical Engineering National Institute of Technology Rourkela, June 2015.
3. David C. Conner, Alfred A. Rizzi and Howie Choset "Construction and Automated Deployment of Local Potential Functions for Global Robot Control and Navigation" Robotics Institute Carnegie Mellon University Pittsburgh, Pennsylvania 15213, November 2003.
4. Yvan Petillot, Ioseba Tena Ruiz, David Lane "AUV Navigation Using a Forward Looking sonar" Ocean Systems Laboratory Department of Computing and Electrical Engineering Heriot Watt University, Edinburgh, EH144AS Scotland, UK, 2000.
5. Shi Zhao "Automatic Underwater Multiple Objects Detection and Tracking sonar Imaging" School of Mechanical Engineering The University of Adelaide, South Africa, ICIEA 2008. 3rd IEEE Conference.
6. Lynn Renee Fodrea "Obstacle Avoidance Control for The REMUS Autonomous Underwater Vehicle" Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering, from the, Naval Postgraduate School, December 2002.
7. Saurabh Ladha, Deepan Kishore Kumar, Pavitra Bhalla, Aditya Jain, Prof. Dr. R.K. Mittal "Use of LIDAR for Obstacle Avoidance by an Autonomous Aerial Vehicle" Birla Institute of Technology and Science Pilani, Dubai Campus, UAE, 2002.
8. G.N. Roberts and R. Sutton "Advances in Unmanned Marine Vehicles" Book, Institution of Engineering and Technology, 2006. [DOI:10.1049/PBCE069E]
9. Oussama, Khatib "Real-Time Obstacle A voidance for Manipulators and Mobile Robots" Artificial Intelligence Laboratory Stanford University Stanford, California 94305, The International Journal of Robotics Research, Vol. 5, No. I, Spring 1986.
10. Jin-Oh Kim and Pradeep Khosla "Real-Time Obstacle Avoidance Using Harmonic Potential Functions" IEEE Transaction on Robotics and Automation. June. 1992.
11. Bruce PI. Krogh & Charles E. Thorpe "Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles" CH2282-2/86//16648Ol.00 0 IEEE, I986.
12. Claudiu Pozna, Radu-Emil Precup, Laszlo T. Koczy, Aron Ballagi "Potential field-based approach for obstacle avoidance trajectories" Manuscript received October, 2010.
13. Ignacio Mas and Christopher Kitts "Obstacle Avoidance Policies for Cluster Space Control of Non-holonomic Multi robot Systems" IEEE/ ASME Transaction on Mechatronics, Vol. 17, No. 6, December 2012. [DOI:10.1109/TMECH.2011.2159988]
14. Karin Sigurd and Jonathan How "UAV Trajectory Design Using Total Field Collision Avoidance" American Institute of Aeronautics and Astronautics, 2003. [DOI:10.2514/6.2003-5728]
15. Lei Tang, Songyi Dian, Gangxu Gu, Kunli Zhou, Suihe Wang, Xinghuan Feng "A Novel Potential Field Method for Obstacle Avoidance and Path Planning of Mobile Robot" 978-1-4244-5539-3/10/$26.00 ©2010IEEE. [DOI:10.1109/ICCSIT.2010.5565069]
16. Min Gyu Park & Min Cheol Lee "Artificial Potential Field Based Path Planning for Mobile Robots Using a Virtual Obstacle Concept" Proceedings of the 2003 IEEWASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).
17. Wei Kan and Bo he "Path Planning and Decision-making Control for AUV with Complex Environment" 2010 3rd International Conference on Computer and Electrical Engineering (ICCEE2010), IPCSIT vol.53 (2012) © IACSIT Press, Singapore.
18. Varadarajan Ganesan "Robust Underwater Obstacle Detection and Avoidance" A Thesis Submitted for The Degree of Masters of Engineering, Electrical & Computer Engineering National University of Singapore, 2014.
19. Yan Yongjie & Zhang Yan "Collision Avoidance Planning in Multi-robot based on Improved Artificial Potential Field and Rules" International Conference on Robotics and Biomimetics, Thailand, February, 2009. [DOI:10.1109/ROBIO.2009.4913141]
20. M.H. Mabrouk, C.R. McInnes "Solving the potential field local minimum problem using internal agent states" Elsevier journal Robotics and Autonomous Systems 56 (2008) 1050-1060. [DOI:10.1016/j.robot.2008.09.006]
21. Seyed Vahid zia, Seyed Hamid Mosavi & Pouria Sarhadi "Comparison Simple, Proportional and Proportional-Integral Line of Sight Guidance for Path Follow ing in Autonomous Underwater Vehicle" 3rd National and First International Conference in applied research on Electric, Mechanical and Mechatronics Engineering, 2015. "In Persian"

Send email to the article author


Creative Commons License
International Journal of Maritime Technology is licensed under a

Creative Commons Attribution-NonCommercial 4.0 International License.