Path Planning for Unmanned Underwater Vehicle in 3D Space with Obstacles Using Spline-Imperialist Competitive Algorithm and Optimal Interval Type-2 Fuzzy Logic Controller

Abstract

In this research, generation of a short and smooth path in three-dimensional space with obstacles for guiding an Unmanned Underwater Vehicle (UUV) without collision is investigated. This is done by utilizing spline technique, in which the spline control points positions are determined by Imperialist Competitive Algorithm (ICA) in three-dimensional space such that the shortest possible path from the starting point to the target point without colliding with obstacles is achieved. Furthermore, for guiding the UUV in the generated path, an Interval Type-2 Fuzzy Logic Controller (IT2FLC), the coefficients of which are optimized by considering an objective function that includes quadratic terms of the input forces and state error of the system, is used. Selecting such objective function reduces the control error and also the force applied to the UUV, which consequently leads to reduction of energy consumption. Therefore, by using a special method, desired signals of UUV state are obtained from generated three-dimensional optimal path such that tracking these signals by the controller leads to the tracking of this path by UUV. In this paper, the dynamical model of the UUV, entitled as "mUUV-WJ-1", is derived and its hydrodynamic coefficients are calculated by CFD in order to be used in the simulations. For simulation by the method presented in this study, three environments with different obstacles are intended in order to check the performance of the IT2FLC controller in generating optimal paths for guiding the UUV. In this article, in addition to ICA, Particle Swarm Optimization (PSO) and Artificial Bee Colony (ABC) are also used for generation of the paths and the results are compared with each other. The results show the appropriate performance of ICA rather than ABC and PSO. Moreover, to evaluate the performance of the IT2FLC, optimal Type-1 Fuzzy Logic Controller (T1FLC) and Proportional Integrator Differentiator (PID) controller are designed and applied to the UUV and compared with each other. The simulation results show the superiority of the IT2FLC than the other two controllers.

Type-1 and Type-2 fuzzy Sets to Control a Nonlinear Dynamic System

“…The dynamic model used for PUMA560 is taken from [9]. Weadopteda robot of three degrees of freedom, and the configuration of space equation is given by:…”

“…is 31 vector of gravity torques, Γ: is 31 vector of joint torque. The dynamic parameters of Puma560 are taken from [9], see the Appendix. Simulation control system diagram of PUMA560 is shown in Figure 1.…”

“…Recall that only three links of PUMA560 robot are used in this work. The three degrees of freedom PUMA560 robot has the same configuration space equation general form as in [9] 6-DOF, in which the last three joints , 5 4…”

“…[8] presents hybrid type-1 and interval type-2 fuzzy with PID to control SCARA robot. In [9], optimal interval type-2 fuzzy controller for unmanned underwater vehicle in 3D space was proposed. In [10], the fundamental differences between interval type-2 and type-1 fuzzy logic controllers were detailed.…”

A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances

“…Manned submersibles always work in complicated ocean environment, including large water pressure in deep sea, time-varying ocean currents, unpredictable external disturbances, unknown obstacles, and so on [4,5]. Furthermore, manned submersibles are known as strong nonlinear systems with various disturbances and time-varying dynamics [6,7].…”