In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwa...In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a nnmerical solution of a nonlinear optimal control problem （NOCP）. An energy performance index as a cost function, which should be minimized, was defmed. The resulting problem was a two-point boundary value problem （TPBVP）. A genetic algorithm （GA）, particle swarm optimization （PSO）, and ant colony optimization （ACO） algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.展开更多
The current geographic routing protocols arise data congestion if a multi-flow bypasses a hole simultaneously and excessive energy consumption of hole boundary nodes because these protocols tend to route data packets ...The current geographic routing protocols arise data congestion if a multi-flow bypasses a hole simultaneously and excessive energy consumption of hole boundary nodes because these protocols tend to route data packets along the boundaries of void areas （holes） by perimeter routing scheme.This scheme possibly enlarges the holes phenomenon （called hole diffusion problem） and shortens the life span of the network. A novel geographical routing algorithm based on a potential field approach （PFA） is proposed to deal with multiple holes scenario and restrict data to forward near boundary of a hole. That is, data packets are attracted to its sink and are repulsed away from the hole （s）. Simulation results show that PFA is superior to other protocols in terms of packet delivery ratio, network lifetime.展开更多
文摘In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a nnmerical solution of a nonlinear optimal control problem （NOCP）. An energy performance index as a cost function, which should be minimized, was defmed. The resulting problem was a two-point boundary value problem （TPBVP）. A genetic algorithm （GA）, particle swarm optimization （PSO）, and ant colony optimization （ACO） algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.
文摘The current geographic routing protocols arise data congestion if a multi-flow bypasses a hole simultaneously and excessive energy consumption of hole boundary nodes because these protocols tend to route data packets along the boundaries of void areas （holes） by perimeter routing scheme.This scheme possibly enlarges the holes phenomenon （called hole diffusion problem） and shortens the life span of the network. A novel geographical routing algorithm based on a potential field approach （PFA） is proposed to deal with multiple holes scenario and restrict data to forward near boundary of a hole. That is, data packets are attracted to its sink and are repulsed away from the hole （s）. Simulation results show that PFA is superior to other protocols in terms of packet delivery ratio, network lifetime.
