Pubblicazione scientifica

Underwater coverage with a mobile robot of limited control authority*

FILONE TECNOLOGICO	TEMA
produzione e raccolta

RIASSUNTO

This work considers the coverage of underwater areas with a mobile robot with constrained control and communication capabilities. While underwater, the robot can control its depth but it is subject to flow in the other directions. While on the surface, it can move (essentially) freely. The aim of the work is the coverage of the areas with the minimum waste of resources. For that, we propose a two-part algorithm, where one part is a genetic algorithm and the other part is an algorithm based on Netwton's method. Numerical simulations are provided to illustrate the efficiency of the algorithm.

DATA

Data di pubblicazione: 01/06/2018

AUTORI

E ARANDA-ESCOLASTICO
J CORTES
M GUINALDO
S DORMIDO

ENTE DI AFFERENZA

DEPARTAMENTO DE INFORMATICAYATICA UNED MADRID SPAIN
DEPT MECH & AEROSPACE ENG UNIV CALIFORNIA SAN DIEGO CA 92093 USA

RIVISTA

2018 European Control Conference (ECC) (Page(s): 1088-1093)

indietro