Energy optimal trajectory planning of an underwater robot using a genetic algorithm-Reference-Cited by-同舟云学术

Energy optimal trajectory planning of an underwater robot using a genetic algorithm

Published:2012-07-03 Issue:8 Volume:226 Page:1077-1087
ISSN:0959-6518
Container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
language:en
Short-container-title:Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Author:

Bende Vikrant¹,Pathak Pushparaj M¹,Dixit Kedar S¹,Harsha SP¹

Affiliation:

1. Robotics and Control Laboratory, Indian Institute of Technology, India

Abstract

This paper presents optimal trajectory planning for an autonomous underwater robot. The optimization parameter is taken as the energy consumed by the robot to traverse its arm tip from a predefined initial point to a final point. The bond graph technique is used for modeling the robot and a genetic algorithm is used as an optimization tool. A polynomial trajectory is considered so that the tip movement is smooth. SYMBOLS Shakti¯ is used as bond graph modeling software and its special feature of generation of CPP code containing the robot model’s expressions is used. The genetic algorithm is implemented on the generated CPP code. Simulation and results for an energy efficient trajectory are presented.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Link

http://journals.sagepub.com/doi/pdf/10.1177/0959651812447232

Reference14 articles.

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2. Pathak PM. Strategies for trajectory, attitude, and impedance control of space robots. PhD Thesis, Indian Institute of Technology, India, 2004.

3. Ridao P, Batlle J, Carreras M. Dynamics model of an underwater robotic vehicle. Research report, IIiA 01-05-RR. Girona, Spain: Institute of Informatics and Applications, University of Girona, 2001, pp.1–50.

4. An effective robot trajectory planning method using a genetic algorithm

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