Autonomous navigation of underwater mobile robot based on harmony search optimization

A competent navigational approach for autonomous underwater mobile robot has been addressed while moving through an impulsive environment containing static obstacles of various shapes and sizes. High frequency oscillations during underwater motion commence nonlinearities of dynamic behaviour as well as uncertainties in hydrodynamic coefficients of equations for motion. Among many metaheuristic approaches harmony search deals with both local and global searching scheme consecutively, thus it has been used for minimizing the duration of motion, which is the main restriction of trajectories problems. To escape from early convergence and possibility to get into the local minima situation, a proper balance of diversification and intensification has been achieved by introducing a new adaptive harmony improvisation scheme for adjusting the algorithm parameters. The simulation results may certify that this heuristic navigational approach has better ability to negotiate with chaotic environment during navigation of under-water robot in comparison with other navigational framework.