3D-path-planning-for-underwater-vehicles-using-five-evolutionary-optimization-algorithms-avoiding-static-and-energetic-obstacles资料.pdf

Applied Ocean Research 38 (2012) 48–62 Contents lists available at SciVerse ScienceDirect Applied Ocean Research j o u r n a l h o m e p a g e : w w w . e l s e v i e r . c o m / l o c a t e / a p o r 3D path planning for underwater vehicles using five evolutionary optimization algorithms avoiding static and energetic obstacles * Mohammad Pourmahmood Aghababa Electrical Engineering Department, Urmia University of Technology, Urmia, Iran a r t i c l e i n f o a b s t r a c t Article history: In this paper, optimal paths in environments with obstacles for underwater vehicles are computed using a Received 2 March 2012 numerical solution of the nonlinear optimal control problem (NOCP). The underwater vehicle is modeled Received in revised form 26 May 2012 with six-dimensional nonlinear and coupled equations of motion, controlled by DC motors in all degrees Accepted 24 June 2012 of freedom. An energy performance index combined with a time consumption index is used. Both fixed and free final times are considered. Solving NOCP leads to a two point boundary value problem (TPBVP). Keywords: Five intelligent evolutionary algorithms (EAs), which include genetic algorithm, memetic algorithm, particle Underwater vehicle Path planning swarm optimization, ant colony optimization and shuffled frog leaping algorithm, are applied to solve the Evolutionary algorithm NOCP. For compariso