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Particle swarm optimization (PSO) is a well-known metaheuristic and population based optimization algorithm. PSO has been used in many science and engineering applications. One of the examples include as a source searching algorithm in swarm robotics. In general, PSO searching performance is determined by its parameters include inertia weight and acceleration coefficients. In this paper, a comparison...
Autonomous surface vehicle (ASV) is a versatile marine vehicle developed to fulfill complexity requirement of wide range offshore activities. Currently, ASVs are primarily developed based on the conventional surface vessel design in term of body structure and maneuverability capability. One of the today's ASV research interests is swarming application. The conventional ASV design has a limitation...
Autonomous surface vehicle (ASV) is developed to fulfill requirement of many offshore applications. One of the examples is tracking an underwater target of interests. Tracking underwater target involves two general steps, target position estimation and target following. In this paper, a control strategy for ASV performing underwater acoustic source tracking is presented. Firstly, method of acoustic...
Underwater acoustic source localization is important in many underwater applications. However, due to the intensity degradation of acoustic signal as the distance from the source increases, the possibility to detect and localize the source using a single surface platform become harder. This paper presents an underwater acoustic source localization strategy by a group of autonomous surface vehicles...
Proportional Integral Derivative (PID) controller is a conventional controller, which is widely used in industrial control system. In this paper, a PID control system is used for path tracking of an autonomous surface vehicle (ASV). The PID controller is selected because it is easy to implement as an embedded controller and practically easy to understand compared to other control methods. However,...
Snake robots are mostly designed based on single mode locomotion. However, single mode gait most likely could not work effectively when the robot is subject to an unstructured working environment with different measures of terrain complexity. As a solution, mixed mode locomotion is proposed in this paper by synchronizing two types of gaits known as serpentine and wriggler gaits used for non-constricted...
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