Use this url to cite publication: https://hdl.handle.net/20.500.12259/102798
Application of soft computing techniques to motion control of underwater robotic vehicle
Author(s)
Author |
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Garus, Jerzy |
Title [lt]
Application of soft computing techniques to motion control of underwater robotic vehicle
Is part of
Agricultural engineering = Žemės ūkio inžinerija, 2014, vol. 46, p. 4-13
Journal Title
Journal Issue Title
Date Issued
Date | Volume | Start Page | End Page |
---|---|---|---|
2014 | 46 | 4 | 13 |
Abstract (lt)
Using of artificial intelligence techniques to steering of underwater robotic vehicle along a reference path is considered in the paper. For the tracking, the way-point line of sight scheme is applied. Command signals are generated by an autopilot consisting of four independent controllers with a fuzzy control law implemented. Parameters of the controllers are tuned by means of genetic algorithms. A quality of control is tested without and in presence of environmental disturbances. Selected results of computer simulations are inserted to demonstrate quality of the approach.
Type of document
type::text::journal::journal article::research article
Language
Anglų / English (en)
ISSN
2345-0371
Access Rights
Atviroji prieiga / Open Access