Particle swarm optimization algorithms with selective differential evolution for AUV path planning

Particle swarm optimization (PSO)-based algorithms are suitable for path planning of the Autonomous Underwater Vehicle (AUV) due to their high computational efficiency. However, such algorithms may produce sub-optimal paths or require higher computational load to produce an optimal path. This paper proposed a new approach that improves the ability of PSO-based algorithms to search for the optimal path while maintaining a low computational requirement. By hybridizing with differential evolution (DE), the proposed algorithms carry out the DE operator selectively to improve the search ability. The algorithms were applied in an offline AUV path planner to generate a near-optimal path that safely guides the AUV through an environment with a priori known obstacles and time-invariant non-uniform currents. The algorithm performances were benchmarked against other algorithms in an offline path planner because if the proposed algorithms can provide better computational efficiency to demonstrate the minimum capability of a path planner, then they will outperform the tested algorithms in a realistic scenario. Through Monte Carlo simulations and Kruskal-Wallis test, SDEAPSO (selective DE-hybridized PSO with adaptive factor) and SDEQPSO (selective DE-hybridized Quantum-behaved PSO) were found to be capable of generating feasible AUV path with higher efficiency than other algorithms tested, as indicated by their lower computational requirement and excellent path quality

A Study on the Motions of Underwater Vehicle (UV) with the Umbilical Cable Effect

This thesis presents a series of analyses on the behavior of the underwater vehicle (UV) including the umbilical cable (UC) effect. The mathematical model for hydrodynamics of UV including the coupled effect of the UC is proposed. The corresponding hydrodynamic coefficients on the UV are obtained from experiments or referring related papers. With relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is used to analyze motion of the UV and the dynamic configuration of the UC. The modeling performed of the UC is using the two-end boundary-value problem and it is solved by using the multi-step shooting method. Simulations on the UV including forward moving, backward, ascending, descending, sideward moving and turning motions were performed for the UC and without UC effect. The developed hydrodynamic model may serve as a useful tool to improve the performance of the UV operated with the effects of UC. The effect of currents to the UC is also taken into consideration. The present results reveal that the UC significantly affects the motion of the UV and should not be neglected in the simulation.Acknowledgement 1 Abstract 2 Contents 3 Nomenclature 6 List of Tables 9 List of Figures 10 Chapter 1 Introduction 14 1.1 Underwater vehicle 14 1.1.1 Autonomous Underwater Vehicles 15 1.1.2 Remote Operated Underwater Vehicles 16 1.2 Applications of Underwater Vehicles 17 1.3 Motivation and Contributions 18 Chapter 2 General Structure and Dynamics of UV System 20 2.1 UV Coordinate System 20 2.2 Factors Affecting an Underwater Vehicle Dynamics 21 2.2.1 Buoyancy 21 2.2.2 Hydrodynamic Damping 21 2.2.3 Stability 22 2.2.4 Coriolis 23 2.2.5 Added Mass 24 2.2.6 Environmental Forces 24 2.2.7 Pressure 24 2.3 General Design of an UV 24 2.3.1 Hull Design 24 2.3.2 Propulsion 25 2.3.3 Submerging 26 2.3.4 Electric Power 26 Chapter 3 Mathematical Model of UV 27 3.1 General Structures and Parameters of UV 27 3.2 Basic Assumptions 30 3.3 UV Kinematics 31 3.3.1 Coordinate Frames 31 3.3.2 Attitude and Euler Angles 33 3.3.3 State Space Representation of the UV 34 3.3.4 Velocity Transformation 35 3.4 UV Dynamic 36 3.4.1 Mass and Inertia Matrix 36 3.4.2 Coriolis and Centripetal Matrix 37 3.4.3 Hydrodynamic Damping Matrix 38 3.4.4 Gravitational and Buoyancy Vector 39 3.4.5 Forces and Torques Vector 40 3.4.6 Umbilical Cable Forces 40 3.5 Simplification of UV Dynamic Model 40 3.5.1 Simplifying the Mass and Inertia Matrix 41 3.5.2 Simplifying the Hydrodynamic Damping Matrix 42 3.5.3 Simplifying the Gravitational and Buoyancy Vector 43 3.6 Thruster Modeling 43 3.7 Equations of Motion 47 Chapter 4 Mathematical Model of Umbilical Cable 49 4.1 General Structure of Umbilical Cable 49 4.2 Basic Assumptions 50 4.3 Cable Modeling Approaches 50 4.4 Three Coordinate Systems 52 4.5 Forces Acting on the Cable 54 4.5.1 Weight and Buoyancy Forces 54 4.5.2 Fluid Hydrodynamic Forces 55 4.5.3 Tension Force 56 4.6 Dynamic Equations of Cable 56 4.6.1 Catenary Equations 56 4.6.2 Static Catenary Analysis 57 4.7 Solution of the Catenary in the 3-D Case 59 4.8 Spatial Variation in the Distributed Load 64 4.9 Boundary Conditions 65 4.10 Cable Effect 66 4.11 Results Simulations of Umbilical Cable 67 Chapter 5 Simulation and Discussion 71 5.1 Forward Motion 73 5.2 Backward Motion 78 5.3 Sideward Motion 82 5.4 Ascending Motion 86 5.5 Descending Motion 90 5.6 Turning Motion 94 Chapter 6 Conclusions 99 References 10

통합형 무인 수상선-케이블-수중선 시스템의 다물체동역학 거동 및 제어

Underwater exploration is becoming more and more important, since a vast range of unknown resources in the deep ocean remain undeveloped. This dissertation thus presents a modeling of the coupled dynamics of an Unmanned Surface Vehicle (USV) system with an Underwater Vehicles (UV) connected by an underwater cable (UC). The complexity of this multi-body dynamics system and ocean environments is very difficult to model. First, for modeling this, dynamics analysis was performed on each subsystem and further total coupled system dynamics were studied. The UV which is towed by a UC is modeled with 6-DOF equations of motion that reflects its hydrodynamic characteristic was studied. The 4th-order Runge–Kutta numerical method was used to analyze the motion of the USV with its hydrodynamic coefficients which were obtained through experiments and from the literature. To analyze the effect of the UC, the complicated nonlinear and coupled UC dynamics under currents forces, the governing equations of the UC dynamics are established based on the catenary equation method, then it is solved by applying the shooting method. The new formulation and solution of the UC dynamics yields the three dimensional position and forces of the UC end point under the current forces. Also, the advantage of the proposed method is that the catenary equations using shooting method can be solved in real time such that the calculated position and forces of UC according to time can be directly utilized to calculate the UV motion. The proposed method offers advantages of simple formulation, convenient use, and fast calculation time with exact result. Some simple numerical simulations were conducted to observe the dynamic behaviors of AUV with cable effects. The simulations results clearly reveal that the UC can greatly influence the motions of the vehicles, especially on the UV motions. Based on both the numerical model and simulation results developed in the dissertation, we may offer some valuable information for the operation of the UV and USV. Secondly, for the design controller, a PD controller and its application to automatic berthing control of USV are also studied. For this, a nonlinear mathematical model for the maneuvering of USV in the presence of environmental forces was firstly established. Then, in order to control rudder and propeller during automatic berthing process, a PD control algorithm is applied. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of USV. The desired heading angle was obtained by the so-called “Line of Sight” method. To support the validity of the proposed method, the computer simulations of automatic USV berthing are carried out. The results of simulation showed good performance of the developed berthing control system. Also, a hovering-type AUV equipped with multiple thrusters should maintain the specified position and orientation in order to perform given tasks by applying a dynamic positioning (DP) system. Besides, the control allocation algorithm based on a scaling factor is presented for distributing the forces required by the control law onto the available set of actuators in the most effective and energy efficient way. Thus, it is necessary for the robust control algorithm to conduct successfully given missions in spite of a model uncertainty and a disturbance. In this dissertation, the robust DP control algorithm based on a sliding mode theory is also addressed to guarantee the stability and better performance despite the model uncertainty and disturbance of current and cable effects. Finally, a series of simulations are conducted to verify the availability of the generated trajectories and performance of the designed robust controller. Thirdly, for the navigation of UV, a method for designing the path tracking controller using a Rapidly-exploring Random Trees (RRT) algorithm is proposed. The RRT algorithm is firstly used for the generation of collision free waypoints. Next, the unnecessary waypoints are removed by a simple path pruning algorithm generating a piecewise linear path. After that, a path smoothing algorithm utilizing cubic Bezier spiral curves to generate a continuous curvature path that satisfies the minimum radius of curvature constraint of underwater is implemented. The angle between two waypoints is the only information required for the generation of the continuous curvature path. In order to underwater vehicle follow the reference path, the path tracking controller using the global Sliding Mode Control (SMC) approach is designed. To verify the performance of the proposed algorithm, some simulation results are performed. Simulation results showed that the RRT algorithm could be applied to generate an optimal path in a complex ocean environment with multiple obstacles.Acknowledgement .................................................................................................. vi Abstract……. ....................................................................................... ………….viii Nomenclature ....................................................................................................... xvi List of Abbreviations ........................................................................................... xxi List of Tables ...................................................................................................... xxiii List of Figures ..................................................................................................... xxiv Chapter 1: Introduction ......................................................................................... 1 1.1 Background .................................................................................................. 1 1.1.1 Unmanned Surface Vehicles (USVs) ...................................................... 1 1.1.2 Umbilical Cable ....................................................................................... 4 1.1.3 Unmanned Underwater Vehicles (UUVs) ............................................... 5 1.1.4 Literature on Modeling of Marine Vehicles ............................................ 9 1.1.5 Literature on Control and Guidance of Marine Vehicles ...................... 11 1.2 Our System Architecture ........................................................................... 12 1.3 Motivation ................................................................................................. 13 1.4 Contribution ............................................................................................... 16 1.5 Publications Associated to the Dissertation .............................................. 17 1.6 Structure of the Dissertation ...................................................................... 18 Chapter 2: Mathematical Model of Unmanned Surface Vehicle (USV) ......... 20 2.1 Basic Assumptions .................................................................................... 20 2.2 Three Coordinate Systems ......................................................................... 20 2.3 Variable Notation ...................................................................................... 22 2.4 Kinematics ................................................................................................. 23 2.5 Kinetics ...................................................................................................... 26 2.5.1 Rigid Body Equations of Motion ........................................................... 26 2.5.2 Hydrodynamic Forces and Moments ..................................................... 28 2.5.3 Restoring Forces and Moments ............................................................. 31 2.5.4 Environmental Disturbances .................................................................. 32 2.5.5 Propulsion Forces and Moments ........................................................... 35 2.6 Nonlinear 6DOF Dynamics ....................................................................... 35 2.7 Mathematical Model of USV in 3 DOF .................................................... 36 2.7.1 Planar Kinematics .................................................................................. 36 2.7.2 Planar Nonlinear 3 DOF Dynamics ....................................................... 38 2.8 Configuration of Thrusters ........................................................................ 40 2.9 General Structure and Model Parameters .................................................. 41 2.9.1 Structure of USV ................................................................................... 41 2.9.2 Control System of USV ......................................................................... 42 2.9.3 Winch Control System ........................................................................... 43 Chapter 3: Mathematical Model of the Umbilical Cable (UC) ........................ 45 3.1 Basic Assumptions for UC ........................................................................ 45 3.2 Analysis on Forces of UV ......................................................................... 47 3.3 Relation for UC Equilibrium ..................................................................... 50 3.4 Catenary Equation in the Space Case ........................................................ 51 3.5 Shooting Method ....................................................................................... 55 3.6 Boundary Conditions ................................................................................. 57 3.7 Cable Effects ............................................................................................. 58 3.8 Model Parameters and Simulation ............................................................. 59 Chapter 4: Mathematical Model of Underwater Vehicle (UV) ........................ 63 4.1 Background ................................................................................................ 63 4.1.1 Basic Assumptions................................................................................. 63 4.1.2 Reference Frames .................................................................................. 64 4.1.3 Notations ................................................................................................ 65 4.2 Kinematics Equations ................................................................................ 66 4.3 Kinetic Equations ...................................................................................... 67 4.3.1 Rigid-Body Kinetics .............................................................................. 67 4.3.2 Hydrostatic Terms ................................................................................. 69 4.3.3 Hydrodynamic Terms ............................................................................ 70 4.3.4 Actuator Modeling ................................................................................. 75 4.3.5 Umbilical Cable Forces ......................................................................... 75 4.4 Nonlinear Equations of Motion (6DOF) ................................................... 76 4.5 Simplification of UV Dynamic Model ...................................................... 77 4.5.1 Simplifying the Mass and Inertia Matrix ............................................... 78 4.5.2 Simplifying the Hydrodynamic Damping Matrix.................................. 79 4.5.3 Simplifying the Gravitational and Buoyancy Vector ............................ 80 4.6 Thruster Modeling ..................................................................................... 80 4.7 Current Modeling ...................................................................................... 83 4.8 Dynamic Model Including Ocean Currents ............................................... 84 4.9 Complete Motion Equations of AUV (6DOF) .......................................... 89 4.10 Dynamics Model Parameter Identification ................................................ 91 4.11 Numerical Solution for Equations of Motion ............................................ 93 4.12 General Structure and Model Parameters .................................................. 94 4.12.1 Structure of AUV ............................................................................... 94 4.12.2 Control System of AUV ..................................................................... 96 Chapter 5: Guidance Theory ............................................................................... 97 5.1 Configuration of GNC System .................................................................. 97 5.1.1 Guidance ................................................................................................ 98 5.1.2 Navigation .............................................................................................. 98 5.1.3 Control ................................................................................................... 98 5.2 Maneuvering Problem Statement .............................................................. 99 5.3 Guidance Objectives ................................................................................ 100 5.3.1 Target Tracking ................................................................................... 100 5.3.2 Trajectory Tracking ............................................................................. 100 5.4 Waypoint Representation ........................................................................ 101 5.5 Path Following ......................................................................................... 102 5.6 Line of Sight (LOS) Waypoint Guidance ................................................ 102 5.6.1 Enclosure-Based Steering .................................................................... 104 5.6.2 Look-ahead Based Steering ................................................................. 105 5.6.3 LOS Control......................................................................................... 106 5.7 Cubic Polynomial for Path-Following ..................................................... 107 Chapter 6: Control Algorithm Design and Analysis ....................................... 110 6.1 Proportional Integral Differential (PID) Controller ................................ 110 6.1.1 General Theory .................................................................................... 110 6.1.2 Stability of General PID Controller ..................................................... 112 6.1.3 PID Tuning .......................................................................................... 114 6.1.4 Nonlinear PID for Marine Vehicles ..................................................... 116 6.1.5 Nonlinear PD for Marine Vehicles ...................................................... 117 6.1.6 Stability of Designed PD Controller .................................................... 117 6.2 Sliding Mode Controller .......................................................................... 118 6.2.1 Tracking Error and Sliding Surface ..................................................... 119 6.2.2 Chattering Situation ............................................................................. 120 6.2.3 Control Law and Stability .................................................................... 121 6.3 Allocation Control ................................................................................... 124 6.3.1 Linear Quadratic Unconstrained Control Allocation Using Lagrange Multipliers ................................................................................................ 125 6.3.2 Thruster Allocation with a Constrained Linear Model ........................ 127 6.4 Simulation Results and Discussion ......................................................... 131 6.4.1 Berthing (parking) Control of USV ..................................................... 133 6.4.2 Motion Control of UV ......................................................................... 136 Chapter 7: Obstacle Avoidance and Path Planning for Vehicle Using Rapidly-Exploring Random Trees Algorithm.................................................................. 168 7.1 Path Planning and Guidance: Two Interrelated Problems ....................... 168 7.2 RRT Algorithm for Exploration .............................................................. 171 7.2.1 Random Node Selection ...................................................................... 172 7.2.2 Nearest Neighbor Node Selection ....................................................... 173 7.2.3 RRT Exploration with Obstacles ......................................................... 174 7.3 RRT Algorithm for Navigation of AUV ................................................. 176 7.3.1 Basic RRT Algorithm .......................................................................... 176 7.3.2 Biased-Greedy RRT Algorithm ........................................................... 178 7.3.3 Synchronized Biased-Greedy RRT Algorithm .................................... 179 7.4 Path Pruning ............................................................................................ 182 7.4.1 Path Pruning Using LOS ..................................................................... 182 7.4.2 Global Path Pruning ............................................................................. 183 7.5 Summarize the Proposed RRT Algorithm ............................................... 185 7.6 Simulation for Path Following of AUV .................................................. 187 Chapter 8: Simulation of Complete USV-UC-UV Systems ............................ 196 8.1 Simulation Procedure .............................................................................. 196 8.2 Simulation Results and Discussion ......................................................... 201 8.2.1 Dynamic Behaviors of Complete USV (Stable)-Cable- AUV (Turning Motion) ..................................................................................................... 201 8.2.2 Dynamic Behaviors of Complete USV (Forward motion)-Cable- AUV (Turning Motion) ...................................................................................... 207 8.2.3 Applied Controller to Complete USV -Cable- AUV ........................... 215 Chapter 9: Conclusions and Future Works ..................................................... 238 9.1 Modeling of Complete USV-Cable-AUV System .................................. 238 9.2 Motion Control ........................................................................................ 239 9.3 Cable Force and Moment at the Tow Points ........................................... 239 9.4 Path Planning ........................................................................................... 239 9.5 Future Works ........................................................................................... 240Docto

Parameter identification of the Fossen model applied to the UUV Blucy

The thesis describes the procedure followed to identify the Fossen mathematical model of the Blucy unmanned underwater vehicle developed within the Sustainable fisheries with DROnes data Processing project. The identification consists in finding the parameters which constitute the mathematical model of Fossen of Blucy. These parameters describe important properties of Blucy, such as its mass, geometry and inertia, as well as its hydrostatic and hydrodynamic characteristics. The topics covered are: the study of the mathematical model, the dynamic vector equations of the model implemented in Simulink; the identification of parameters performed through a combination of different tools and methods, including detailed 3D CAD modeling, meshing and CFD simulations. The identified parameters were integrated into Simulink and tested. Finally, a new approach based on fractional order modeling was applied to test the accuracy and adaptability of a new strategy for modeling complex systems. The results obtained from this work show the effectiveness of the proposed approach in identifying Blucy's Fossen mathematical model

Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro‐controller for trajectory tracking and an obstacle avoidance adaptive neuro‐  controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.Supported by the Coastal Monitoring System for the Mar Menor (CMS‐  463.01.08_CLUSTER) project founded by the Regional Government of Murcia, by the SICUVA project (Control and Navigation System for AUV Oceanographic Monitoring Missions. REF: 15357/PI/10) founded by the Seneca Foundation of Regional Government of Murcia and by the DIVISAMOS project (Design of an Autonomous Underwater Vehicle for Inspections and oceanographic mission‐UPCT: DPI‐ 2009‐14744‐C03‐02) founded by the Spanish Ministry of Science and Innovation from Spain

Locomation strategies for amphibious robots-a review

In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion mechanism designed and developed previously are consolidated, systematically The review also analyzes the literature on amphibious robot highlighting the limitations, open research areas, recent key development in this research field. Further development and contributions to amphibious robot locomotion, actuation, and control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe or hardly feasible for the divers or traditional aquatic and terrestrial robots

Underwater Robots Part II: Existing Solutions and Open Issues

National audienceThis paper constitutes the second part of a general overview of underwater robotics. The first part is titled: Underwater Robots Part I: current systems and problem pose. The works referenced as (Name*, year) have been already cited on the first part of the paper, and the details of these references can be found in the section 7 of the paper titled Underwater Robots Part I: current systems and problem pose. The mathematical notation used in this paper is defined in section 4 of the paper Underwater Robots Part I: current systems and problem pose