ppt课件-a surveyof artificial intelligence applicationsin water（人工智能surveyof applicationsin水）.pptVIP

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ppt课件-a surveyof artificial intelligence applicationsin water（人工智能surveyof applicationsin水）.ppt

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A Survey of Artificial Intelligence Applications in Water-based Autonomous Vehicles Daniel D. Smith CSC 7444 December 8, 2008 Autonomous Vehicles Vehicle which can perform all the functions required of it without outside intervention while operating in an uncontrolled environment. Types: Land-based Water-based (surface and underwater) Air-based Past and Current Research in Biological Engineering Program uses Autonomous Water-based vehicles for a variety of purposes Water quality monitoring Bird predation reduction Pollution tracking Research is moving into areas involving multiple agents which need to interact with each other and the environment in intelligent ways. Past and Current Vehicles Problems with traditional control methods Complex - especially for underwater vehicles Non-adaptive Can be slow Neural NetworksandSelf-Organizing Maps Neural Networks Some systems use the neural network along side a more traditional controller to provide on-line adjustments to the controller itself. Other systems utilize the neural network as one stage of a multi-stage process. A Neural Network Controller for Diving of a Variable Mass Autonomous Underwater Vehicle Variable Mass Submarine System developed to compensate for changing dynamics of vehicle As vehicle burns fuel, the mass of the vehicle changes Neural network provides correction to traditional PID control system to keep dive angle correct. Correction is done by using a second neural network to estimate the Jacobian of the output of the control system. Self-tuning PID Controller Control of Underwater Autonomous Vehicles Using Neural Networks Submarine Guidance Simulation for control of a submarine’s heading and depth Assumptions: No obstacles Constant speed Waypoint reached if location was within a 1m radius circle of the actual waypoint. Submarine Controller and Neural Network Autonomous Underwater Vehicle Guidance by Integrating Neural Networks and Geometric Reasoning Vision-based Guidance Neural network used as th