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Autonomous Ground Vehicles play a vital role in various industries, necessitating efficient route planning for mission success without human intervention. This study examines two metaheuristic optimization approaches, Genetic Algorithms and Ant Colony Optimization, within the context of route planning for these robotic entities. The comprehensive methodology utilizes the designs of these metaheuristic methods, and a comparative analysis is conducted through simulated experiments in diverse environments. Thefindings unveil that Genetic Algorithms excel in simple terrains; while Ant Colony Optimization demonstrates robust exploration capabilities in complex environments with obstacles and additional constraints. This underscores the importance of selecting the appropriate metaheuristic based on specific mission requirements and environmental conditions. The research furnishes insights to designers and operators, enabling informed decisions in route planning strategy selection, thereby enhancing the efficiency and safety of autonomous robotic operations across various scenarios. [ABSTRACT FROM AUTHOR]

In recent years, a large number of works have been presented that seek to solve the problem of road following by autonomous surface vehicles (ASV). In this sense, a non-linear guidance algorithm (NLGL), which has emerged in recent years for use in aerial vehicles, is presented as an interesting option for path tracking by marine vehicles as it does not use the yaw angle to achieve its objectives. control objectives. The biggest problem that these vehicles present when following paths is the influence of environmental disturbances on them, mainly sea currents and wind. To provide a solution to this problem, this paper presents a guidance and control scheme to achieve the following of straight paths by marine vehicles. It presents a cascade structure with an internal yaw velocity loop, which presents a PI controller as the main element, and the NLGL algorithm in the external loop. Thus, achieving that the vehicle follows a straight path with zero error without the need to measure the yaw angle and avoiding the implementation of an integral action in the external loop. An analysis is made of how the marine currents and the wind influence this system from the linearization of the presented scheme, in addition to a stability analysis of the scheme is presented. Finally, the results of simulation and real experiments of the implementation of this scheme in a small ASV are presented, where the vehicle converges to the desired trajectory with precision in the presence of environmental disturbances. [ABSTRACT FROM AUTHOR]

The development of control systems for underwater robotic is a topic of great interest to the international scientific community. The advance speed of high-scale integration electronic devices, together with the technological development of our country, makes novel the search of hardware-software architectures for implementation of solutions dedicated to the handling of underwater vehicles. This document details a self-developed, technologically feasible, efficient and low-cost embedded system capable of guaranteeing the control and management of an autonomous naval vehicle of national manufacture. During the content are presented the requirements for the design of a control system for an underwater vehicle, the designed platform structure is described in its hardware and software components, and the obtained results in field tests that allow to validate its operation. [ABSTRACT FROM AUTHOR]

An AUV is an underwater vehicle that carries its own power supply and computational units. The HRC-AUV is a prototype develop by "Center for Navy Researching and Development" (CIDNAV) for undersea researching. In this paper is presented the implementation of a navigation system based on the nonlinear dynamical model for the HRC-AUV which allows to estimate sea currents magnitude and direction in the operation environment improving the navigation results. The results are validated through simulation using the 6 degrades of freedom (DOF) nonlinear model obtained for the HRC-AUV and using data sets obtained in experimental sessions directly from the vehicle. [ABSTRACT FROM AUTHOR]

The development of autonomous vehicles is a subject of great interest in the international scientific community. For the accomplishment of missions without human intervention it is vitally to have an algorithm or guiding law. In this paper we present the results obtained by simulation with the guidance algorithm based on distance L1, during the tracking of straight and circular paths by an autonomous aerial vehicle (UAV). The algorithm produces a lateral acceleration command that is interpreted by the balancing controller to achieve convergence to the path. The results of the simulation demonstrate the good performance of the algorithm, for both straight and circular paths. [ABSTRACT FROM AUTHOR]