Search results for: Karl Sammut

Items from 1 to 13 out of 13 results

article

Hybrid Motion Planning Task Allocation Model for AUV’s Safe Maneuvering in a Realistic Ocean Environment

Somaiyeh MahmoudZadeh, David M. W. Powers, Karl Sammut, Amir Mehdi Yazdani, more

Journal of Intelligent & Robotic Systems > 2019 > 94 > 1 > 265-282

This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle’s task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large scale terrain is defined first; then, considering the limitations over the mission time, vehicle’s battery, uncertainty and variability of the underlying operating...

article

An autonomous reactive architecture for efficient AUV mission time management in realistic dynamic ocean environment

Somaiyeh Mahmoud Zadeh, David M.W. Powers, Karl Sammut

Robotics and Autonomous Systems > 2017 > 87 > C > 81-103

Today AUVs operation still remains restricted to very particular tasks with low real autonomy due to battery restrictions. Efficient path planning and mission scheduling are principle requirement toward advance autonomy and facilitate the vehicle to handle long-range operations. A single vehicle cannot carry out all tasks in a large scale terrain; hence, it needs a certain degree of autonomy in performing...

article

A novel versatile architecture for autonomous underwater vehicle’s motion planning and task assignment

Somaiyeh Mahmoud Zadeh, David M. W. Powers, Karl Sammut, Amir Mehdi Yazdani

Soft Computing > 2018 > 22 > 5 > 1687-1710

Expansion of today’s underwater scenarios and missions necessitates the requisition for robust decision making of the autonomous underwater vehicle (AUV); hence, design an efficient decision-making framework is essential for maximizing the mission productivity in a restricted time. This paper focuses on developing a deliberative conflict-free-task assignment architecture encompassing a global route...

chapter

Surveillance of coral reef development using an Autonomous Underwater Vehicle

Mohammad Fahmi Amri Bin Mohd Murad, Mohamed Idzham Bin Samah, Zool H Ismail, Karl Sammut

2016 IEEE/OES Autonomous Underwater Vehicles (AUV) > 14 - 19

2016 IEEE/OES Autonomous Underwater Vehicles (AUV)

With the arrival of new robotic technologies such as an Autonomous Underwater Vehicle (AUV), a number of tasks that cannot be done by human now can be accomplished and bring human to reach the dangerous and unreachable areas. An AUV can be related to the most invention which can reduce human's work using specialized equipment and devices that control and perform the particular tasks. Therefore, it...

article

A comparison of optimization techniques for AUV path planning in environments with ocean currents

Zheng Zeng, Karl Sammut, Lian Lian, Fangpo He, more

Robotics and Autonomous Systems > 2016 > 82 > C > 61-72

To date, a large number of optimization algorithms have been presented for Autonomous Underwater Vehicle (AUV) path planning. However, little effort has been devoted to compare these techniques. In this paper, an quantum-behaved particle swarm optimization (QPSO) algorithm is introduced for solving the optimal path planning problem of an AUV operating in environments with ocean currents. An extensive...

article

A survey on path planning for persistent autonomy of autonomous underwater vehicles

Zheng Zeng, Lian Lian, Karl Sammut, Fangpo He, more

Ocean Engineering > 2015 > 110 > PA > 303-313

Recently, there has been growing interest in developing Autonomous Underwater Vehicle (AUV) to operate for longer mission durations as well as with higher levels of autonomy. This paper describes the current state of the art in methodologies to enable long range AUVs and provides a detailed literature review of some existing AUVs characterizing their operation endurance. Path planning is identified...

article

Effects of natural frequency ratio on vortex-induced vibration of a cylindrical structure

Xiangxi Han, Wei Lin, Youhong Tang, Chengbi Zhao, more

Computers & Fluids > 2015 > 110 > C > 62-76

In this study, vortex-induced vibration (VIV) of a circular cylinder at the low Reynolds number of 200 is simulated by a transient coupled fluid–structure interaction numerical model. The transient coupling between the fluid and the structure is updated by on-line transmission between fluid dynamic loads and structure response data. The structural vibration of the cylinder influences the flow around...

article

Efficient Path Re-planning for AUVs Operating in Spatiotemporal Currents

Zheng Zeng, Karl Sammut, Andrew Lammas, Fangpo He, more

Journal of Intelligent & Robotic Systems > 2015 > 79 > 1 > 135-153

This paper presents an on-line dynamic path re-planning system for an autonomous underwater vehicle (AUV) to enable it to operate efficiently in a spatiotemporal, cluttered, and uncertain environment. The proposed strategy combines path re-planning with an evolutionary algorithm to adapt and regenerate the trajectory during the course of the mission using continuously updated current profiles from...

article

Shell space decomposition based path planning for AUVs operating in a variable environment

Zheng Zeng, Andrew Lammas, Karl Sammut, Fangpo He, more

Ocean Engineering > 2014 > 91 > Complete > 181-195

This paper presents an optimal and efficient path planner based on a shell space decomposition (SSD) scheme for autonomous underwater vehicles (AUVs) operating in cluttered and uncertain environments. In 3D space the shells define the volume between adjacent spheres, whereas in a 2D plane the shells become annuli which define the area between adjacent circles. In this scheme, the search space is decomposed...

chapter

Path planning for rendezvous of multiple AUVs operating in a variable ocean

Zheng Zeng, Andrew Lammas, Karl Sammut, Fangpo He, more

The 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent > 451 - 456

2014 IEEE 4th Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)

This paper presents a path planner for rendezvous of multiple autonomous underwater vehicles (AUVs) in turbulent, cluttered, and uncertain environments. The proposed strategy combines an Optimized Mass-center rendezvous point selection scheme with an evolutionary path planner to find trajectories for multiple AUVs with minimal time usage over all participating vehicles and simultaneous arrival of...

chapter

Efficient path evaluation for AUVs using adaptive B-spline approximation

Zheng Zeng, Karl Sammut, Fangpo He, Andrew Lammas

2012 Oceans > 1 - 8

OCEANS 2012

This paper presents an optimal and efficient path planner using adaptive B-spline approximation mechanism for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed method recursively inserts midpoint knots until an approximated B-Spline curve that satisfies the accuracy criteria is achieved. The method is able to adapt the quantity of internal...

chapter

Optimal path planning based on annular space decomposition for AUVs operating in a variable environment

Zheng Zeng, Andrew Lammas, Karl Sammut, Fangpo He

2012 IEEE/OES Autonomous Underwater Vehicles (AUV) > 1 - 9

2012 IEEE/OES Autonomous Underwater Vehicles (AUV)

This paper presents an optimal and efficient path planner based on an annular space decomposition (ASD) scheme for Autonomous Underwater Vehicles (AUVs) operating in turbulent, cluttered and uncertain environments. The proposed scheme decomposes the search space into annular regions, and allows placing one or more control points within each of this region. The trajectory is then generated from this...

chapter

A study of the drag and propulsion performance, and motion analysis of an Underwater Disk Robot (UDR)

Tae-Hwan Joung, Hyeung-Sik Choi, Ngoc-Huy Tran, Myung-Man Woo, more

2012 Oceans - Yeosu > 1 - 8

OCEANS 2012 - YEOSU

This paper shows a method for predicting the drag and propulsion performance (thrust, torque estimation) of an Underwater Disk Robot (UDR). The Computational Fluid Dynamics (CFD) software, ANSYS-CFX, was used to predict the drag and propulsion performance of the UDR before comparing the CFD results with the results of the empirical method (ITTC1957) and an experimental bollard test conducted within...

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