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Astar algorithm (also calls as A∗ algorithm) is often applied into robot path planning because of its simple, high efficiency and optimized path, but some disadvantages are also in it. The path by the tradition A∗ algorithm often contains many redundant points and inflection points. In order to reduce these points, the improved A∗ algorithm is put forward in this paper, which simplified the path nodes...
AGV path planning problems play an extremely important role in navigations of AGV. Intelligence algorithms provide an effective way to solve such complicated problems. Artificial fish swarm algorithm (AFSA) is a newly proposed promising swarm intelligence optimization algorithm, yet there still exist some disadvantages of it, such as low optimization precision and convergence rate. Aiming at these...
The cooperative tracking control problem of autonomous vessels is analyzed in this paper. Firstly, we capture the properties of motion constraints of marine vessels. We relate these constraints to previous analysis to suggest ways that they can be bounded in practice. Then a feedback-linearization tracking method and a sliding mode controller are designed respectively to solve the consensus problem...
Artificial fish swarm algorithm (AFSA) is a newly proposed swarm intelligent optimization algorithm. It is proved to be a promising approach to complex engineering problems, yet still there exist some defects of this algorithm. To solve the problem that AFSA has a low rate of convenience, low optimization precision, premature convergence and poor ability of balancing exploitation and exploration,...
We propose a parallel hybrid immune genetic algorithm (PHIGA) based on parallel genetic algorithms (PGA) in order to overcome some defects of them, such as premature and slow convergence rate. The global performance of the algorithm is improved by introducing immunity theory into PGA. This is revealed in the following two aspects. One is that immune selection can prevent the algorithm from premature...
A distributed ship steering control algorithm testing simulation system based on virtual reality is proposed and developed. This system can test both ship course control and track control algorithm, with simulation process displayed by distributed virtual reality technique. In the paper, the configuration of the simulation system and the ship steering mathematical model are presented, main functions...
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