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Abstract

This paper presents optimal trajectory planning for an autonomous underwater robot. The optimization parameter is taken as the energy consumed by the robot to traverse its arm tip from a predefined initial point to a final point. The bond graph technique is used for modeling the robot and a genetic algorithm is used as an optimization tool. A polynomial trajectory is considered so that the tip movement is smooth. SYMBOLS Shakti^¯ is used as bond graph modeling software and its special feature of generation of CPP code containing the robot model’s expressions is used. The genetic algorithm is implemented on the generated CPP code. Simulation and results for an energy efficient trajectory are presented.

Keywords

Underwater robot bond graph genetic algorithm

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Energy optimal trajectory planning of an underwater robot using a genetic algorithm

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