Title :
Optimal mission planning for underwater environment
Author :
Daegil Park ; Jonghui Han ; Wan Kyun Chung
Author_Institution :
Dept. of Mech. Eng., POSTECH, Pohang, South Korea
fDate :
Oct. 30 2013-Nov. 2 2013
Abstract :
In this paper, we suggest the mission planning method for autonomous underwater vehicle. In order to set the optimal mission scheduling, we solve the traveling salesman problem using genetic algorithm, and we suggest the cost function which considering both Euclidean distance and current information. In additionally, constraints such as priority and obstacles is considered. By checking the simulation, we achieved the valuable simulation results.
Keywords :
autonomous underwater vehicles; genetic algorithms; optimal control; path planning; travelling salesman problems; Euclidean distance; autonomous underwater vehicle; genetic algorithm; mission planning method; optimal mission planning; optimal mission scheduling; traveling salesman problem; underwater environment; Cost function; Genetic Algorithm; Mission planner; Traveling Salesman Problem;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2013 10th International Conference on
Conference_Location :
Jeju
Print_ISBN :
978-1-4799-1195-0
DOI :
10.1109/URAI.2013.6677395
