کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10326926 | 680428 | 2015 | 15 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Rapid motion planning algorithm for optimal UVMS interventions in semi-structured environments using GPUs
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this work, a novel local motion planning algorithm is presented, for underwater vehicle manipulator systems (UVMS) that perform autonomous underwater inspection operations. An optimization problem is formulated considering the collision avoidance, the approximation of the given task curve and critical optimization criteria. The searching method is based on an evolutionary algorithm and it is able to generate a local motion plan using continuously updated sensor information. The working environment is represented by a Bump-surface entity, constantly updated by a parallel algorithm implemented on a graphical processing unit (GPU). A trained artificial neural network is used for the fast approximation of the considered dexterity index. The local planner can cope with unknown obstacles inside the workspace while executing the task and pursuing high performance configurations in the free space. A welding inspection on an underwater tube structure is considered as the validation scenario, while a UVMS with a mounted six degrees of freedom manipulator is assigned to perform the task.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 74, Part A, December 2015, Pages 15-29
Journal: Robotics and Autonomous Systems - Volume 74, Part A, December 2015, Pages 15-29
نویسندگان
Panagiotis Sotiropoulos, Vasileios Kolonias, Nikos Aspragathos, Efthymios Housos,