Abstract
In this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV) without collision is investigated. This is done by utilizing spline technique, in which the spline control points positions are determined by Imperialist Competitive Algorithm (ICA) in three-dimensional space such that the shortest possible path from the starting point to the target point without colliding with obstacles is achieved. Furthermore, for guiding the UUV in the generated path, an Interval Type-2 Fuzzy Logic Controller (IT2FLC), the coefficients of which are optimized by considering an objective function that includes quadratic terms of the input forces and state error of the system, is used. Selecting such objective function reduces the control error and also the force applied to the UUV, which consequently leads to reduction of energy consumption. Therefore, by using a special method, desired signals of UUV state are obtained from generated three-dimensional optimal path such that tracking these signals by the controller leads to the tracking of this path by UUV. In this paper, the dynamical model of the UUV, entitled as mUUV-WJ-1 , is derived and its hydrodynamic coefficients are calculated by CFD in order to be used in the simulations. For simulation by the method presented in this study, three environments with different obstacles are intended in order to check the performance of the IT2FLC controller in generating optimal paths for guiding the UUV. In this article, in addition to ICA, Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) are also used for generation of the paths and the results are compared with each other. The results show the appropriate performance of ICA rather than ABC and PSO. Moreover, to evaluate the performance of the IT2FLC, optimal Type-1 Fuzzy Logic Controller (T1FLC) and Proportional Integrator Differentiator (PID) controller are designed and applied to the UUV and compared with each other. The simulation results show the superiority of the IT2FLC than the other two controllers.
Highlights
The Unmanned Underwater Vehicles (UUVs) have many components that generally include mechanical, automatic controllers design and optimal path planning sections
Generating the optimal path is performed for three different environments and the UUV is guided on these paths
In order to guide the UUV through the generated optimal path, the optimal Interval Type-2 Fuzzy Logic Controller (IT2FLC) was designed by Nelder-Mead and was applied on the UUV
Summary
The Unmanned Underwater Vehicles (UUVs) have many components that generally include mechanical, automatic controllers design and optimal path planning sections. Generating the optimal path is one of the main issues of UUVs and has attracted many researchers and scientists and lots of researches have been done on it In this field, an algorithm for path planning based on fuzzy logic for Autonomous Underwater Vehicles (AUVs) in unknown three-dimensional space is provided by Liu et al (2012). Ali et al (2015) has proposed a method to prevent the underwater robots from colliding with obstacles In this method, they used type-2 fuzzy and ontology-based semantic knowledge for simulation, identifying obstacles and avoiding collisions. An important issue that any UUV should benefit from in its way passing from starting point to target point is avoiding obstacles and planning a short path to the target In this study, this is considered as the goal in generating the path. The problem is converted to a constrained optimization problem
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