UNDERWATER ROBOTS DESIGN AND CONTROL MECHANISM USING PARTICLE SWARM OPTIMIZATION ALGORITHM Abstract: In recent years, there has been improved attention provided to the researches in the underwater robotics domain. The water is not a place for long-distance electromagnetic communication due to unpredictable changes in the hydrodynamic force and pressure. Contrastingly it becomes essential for human activities such as for commercial, environmental and cultural purposes. Swarm robotics has the benefit of effectiveness and redundancy when compared to a single robot concept. The swarm robotics privileges these advantages to performing a task at high speed than a single robot under the same circumstances and environment. The primary issue to be considered in the underwater swarm robots is the hindrance in communication undersea. Thus this invention involves the development of the underwater swarm robots. Many different algorithms perform the optimization and control of swarm robots. The PSO (Particle Swarm Optimization) considers every robot in the swarm as a particle. The physical attributes of the robots are limited in the underwater application of the PSO algorithm. Thus to overcome this, and adapted inertia is added to the PSO. The adapted PSO is coupled with the reorientation algorithm to make it even more useful. Additionally, the problem in planning of path of the underwater robots in the undersea environment is dealt with by proposing an algorithm of improved ACO based on PSO is used in the 3D model for path planning that avoids the obstacles. 11 P a g e UNDERWATER ROBOTS DESIGN AND CONTROL MECHANISM USING PARTICLE SWARM OPTIMIZATION ALGORITHM Diagram Smart Bluetooth Arduino RF Transmitting Pione module (BC-05) (ATMEGAA328) Transmitter antenna Figure 1: Block diagram of command transmitting part of underwater swarm robots ReceMng RF Antenna receiver Ard uino motor Drive DC light Camera Figure 2: Block diagram of receiving part of underwater swarm robots 1| P a g e
UNDERWATER ROBOTS DESIGN AND CONTROL MECHANISM USING PARTICLE SWARM OPTIMIZATION ALGORITHM
2020-12-24
Patent
Electronic Resource
English
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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