Navigation Based on Adaptive Shuffled Frog-Leaping Algorithm for Underwater Mobile Robot

摘要

Navigational approach for underwater robot may be inferred as a numerical solution to the nonlinear optimal control problem. Adaptive shuffled frog-leaping algorithm has been chosen as a dynamic path planning scheme for underwater robot to track target position while avoiding obstacles. By introducing adaptation procedure in proposed algorithm, the optimization of path as well as time taken can be done through an iterative process by avoiding local minima situation. Objective function with adaptive parameter set as well as stopping criterion of iteration process has been chosen based on distance between robot and target as well as obstacles to regulate convergence rate toward optimal solution. The simulated as well as experimental analysis may validate the properties of the heuristic navigational approach such as faster decision-making, obstacle avoidance, and target seeking behavior during navigation of underwater robot in a messy environment.