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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Giron-Sierra, J.M. Cifuentes, S. Jimenez, J.F. |
| Copyright Year | 2008 |
| Description | Author affiliation: Dep. A.C.Y.A., Univ. Complutense de Madrid, Madrid (Giron-Sierra, J.M.; Cifuentes, S.; Jimenez, J.F.) |
| Abstract | This paper considers complex marine operations involving the coordinated motion of several ships. Each ship is controlled by an on-board computer, under captain supervision; so the ship is a quasi-robot ship. A computational procedure, able to embed a priori knowledge, was devised for planning of the ships motion control, to make them follow adequate trajectories. The main idea has been to mimic the typical maneuver when parking a car: turn the wheel to one side, and then to the other side; this may be seen as a partial bang-bang control strategy. In general, this type of maneuver do adapt to the control of non-holonomic vehicles, when a vehicle starts from a certain position and attitude and must arrive to another position and attitude. The paper introduces a genetic procedure for control planning using partial bang-bang control. A complete operation, the case of oil spill over confinement, is described, presenting results of the genetic optimization procedure. |
| Starting Page | 1206 |
| Ending Page | 1211 |
| File Size | 731761 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424422869 |
| DOI | 10.1109/ICARCV.2008.4795693 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-12-17 |
| Publisher Place | Vietnam |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Trajectory Marine vehicles Genetic algorithms Robotics and automation Robot kinematics Motion planning Automatic control Motion control Wheels Bang-bang control genetic algorithms ship motion control marine surface robots robot trajectory planning |
| Content Type | Text |
| Resource Type | Article |
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