Grid-based GA path planning with improved cost function for an over-actuated hover-capable AUV
Grid-based GA path planning with improved cost function for an over-actuated hover-capable AUV
For an AUV to perform a long-range mission with its maximum endurance, its energy consumption during transit must be kept to a minimum. This paper presents an improved cost function for a grid-based genetic algorithm (GA) path planning in 2D static environments. The proposed function consists of energy consumption terms that are estimated according to dynamics of a hover-capable AUV - notably Delphin2 AUV. It seeks for a path that requires least effort for the vehicle to move along. A simulation was written in Matlab and the outcomes of the GA with the improved cost function are compared with the ones of a GA with an optimal distance approach as well as an A* approach. It is found that outcomes of an improved cost function require less energy compared with the other techniques
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
19 August 2014
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, P.A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Turnock, S.R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, A.B.
f565b1da-6881-4e2a-8729-c082b869028f
Tanakitkorn, Kantapon, Wilson, P.A., Turnock, S.R. and Phillips, A.B.
(2014)
Grid-based GA path planning with improved cost function for an over-actuated hover-capable AUV.
AUV 2014, Mississippi, United States.
06 - 09 Oct 2014.
Record type:
Conference or Workshop Item
(Paper)
Abstract
For an AUV to perform a long-range mission with its maximum endurance, its energy consumption during transit must be kept to a minimum. This paper presents an improved cost function for a grid-based genetic algorithm (GA) path planning in 2D static environments. The proposed function consists of energy consumption terms that are estimated according to dynamics of a hover-capable AUV - notably Delphin2 AUV. It seeks for a path that requires least effort for the vehicle to move along. A simulation was written in Matlab and the outcomes of the GA with the improved cost function are compared with the ones of a GA with an optimal distance approach as well as an A* approach. It is found that outcomes of an improved cost function require less energy compared with the other techniques
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AUV2014_GA.pdf
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Published date: 19 August 2014
Venue - Dates:
AUV 2014, Mississippi, United States, 2014-10-06 - 2014-10-09
Organisations:
National Oceanography Centre, Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 368403
URI: http://eprints.soton.ac.uk/id/eprint/368403
PURE UUID: 9bf1cd34-1e77-4ffa-a762-ad7b928cc0c3
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Date deposited: 18 Sep 2014 10:59
Last modified: 15 Mar 2024 03:21
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Contributors
Author:
Kantapon Tanakitkorn
Author:
A.B. Phillips
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