NDLI: Multicriterion Offline Path Planning of a Biomimetic Underwater Vehicle Using NSGA II

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Ataei, Mansour Yousefi-Koma, Aghil Panahi, Masoud Shariat
Copyright Year	2010
Abstract	In this paper an optimal 3-D path is generated offline for a Biomimetic Underwater Vehicle (BUV). The BUV swims forward by oscillating its body, turns by curving its body and dives by bending its head. The BUV is intended to systematically plan its path having only the initial and final points and the positions and dimensions of the obstacles. The four widely-accepted criteria of the optimal path planning of the BUV are “overall path length”, “margin of safety”, “smoothness of planar motion” and “gradient of dive”. In this study the multi-objective GA algorithm NSGA-II is employed to find a set of Pareto-optimal solutions where each solution represents a path that cannot be outrun by any other path considering all four criteria. The solution set, also called the Pareto front, gives the designer the freedom of choice when it comes to prioritizing various criteria.
Sponsorship	International
Starting Page	737
Ending Page	741
Page Count	5
File Format	PDF
ISBN	9780791849170
DOI	10.1115/ESDA2010-24994
e-ISBN	9780791838778
Volume Number	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3
Conference Proceedings	ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
Language	English
Publisher Date	2010-07-12
Publisher Place	Istanbul, Turkey
Access Restriction	Subscribed
Subject Keyword	Dimensions Path planning Algorithms Safety Biomimetics Underwater vehicles
Content Type	Text
Resource Type	Article

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