Article
Engineering, Marine
Moon Hwan Kim, Teasuk Yoo, Seok Joon Park, Kyungwon Oh
Summary: Autonomous Underwater Vehicles (AUVs) play a crucial role in underwater missions, and this paper presents an advanced obstacle avoidance algorithm based on a stream function framework, which can optimize paths and plan evasion trajectories in complex operational contexts.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Haitong Xu, Miguel A. Hinostroza, C. Guedes Soares
Summary: This research presents a modified path-following control system for autonomous surface ships in the presence of static obstacles, which integrates path following and obstacle avoidance tasks as a whole. By utilizing a vector field method and the velocity obstacle algorithm, the system enables ships to safely navigate through obstacles and follow predefined paths simultaneously.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
Article
Engineering, Marine
Sen Han, Lei Wang, Yiting Wang
Summary: This paper introduces a guidance strategy conforming to COLREGs that effectively combines USV dynamics with obstacle avoidance. The strategy is divided into global and local layers, utilizing ETheta* and IAPF. The strategy guides the USV using sub-targets to avoid stationary obstacles and reach the destination, while complying with COLREGs. Simulation results demonstrate the effectiveness of the strategy in complex scenarios.
Article
Engineering, Marine
Zhilin Liu, Simeng Song, Shouzheng Yuan, Yingkai Ma, Zongxun Yao
Summary: This paper investigates the problems of path following and obstacle avoidance for unmanned surface vessels (USVs). An adaptive line-of-sight algorithm is used to determine the desired heading angle, and a Model Predictive Control method is employed to reduce lateral error. The event-triggered mechanism strategy is utilized to minimize the computational cost, and a linear extended state observer is used to compensate for external disturbances. An improved obstacle avoidance algorithm based on the geometric relationship is proposed. The results of simulation experiments demonstrate the effectiveness of the proposed approach in improving path following capability and security.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Computer Science, Information Systems
Jurica Goricanec, Ana Milas, Lovro Markovic, Stjepan Bogdan
Summary: In this paper, we propose a novel algorithm, called Augmented Artificial Potential Field (AAPF), for trajectory following with a UAV in an unknown environment. Our algorithm uses a combination of attractive and repulsive forces to avoid obstacles and handles local minima problems. Comparative simulations and laboratory experiments demonstrate that our approach outperforms previous algorithms in terms of efficiency and compatibility with real UAVs.
Article
Engineering, Marine
Jianming Miao, Kankan Deng, Wenrui Zhang, Xi Gong, Jifang Lyu, Lei Ren
Summary: This study presents a novel nonlinear robust control approach for path-following control of underactuated autonomous underwater vehicles (AUVs) with multiple uncertainties. The approach employs reduced-order extended state observers (ESOs) and a nonlinear track differentiator (NTD) to estimate the uncertainties and track the virtual control signal. By using the Lyapunov theorem, the effectiveness and stability of the designed controller are demonstrated. Extensive simulations and analyses are conducted to verify the efficacy and robustness of the controller in different working conditions.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Automation & Control Systems
Harshat Kumar, Santiago Paternain, Alejandro Ribeiro
Summary: This paper proposes a modification to gradient dynamics for successful navigation of an environment with a quadratic cost and ellipsoidal obstacles regardless of their eccentricity. The method introduces a Hessian correction to imitate worlds with spherical obstacles, allowing convergence to the goal and obstacle avoidance from almost every initial position in the free space.
Article
Chemistry, Multidisciplinary
Xiuquan Cheng, Shaobo Zhang, Sizhu Cheng, Qinxiang Xia, Junhao Zhang
Summary: This paper presents a novel path-following and obstacle avoidance control method for nonholonomic wheeled mobile robots based on deep reinforcement learning. The proposed method achieves path-following control through interaction with the environment and redesigns the state and reward function for obstacle avoidance.
APPLIED SCIENCES-BASEL
(2022)
Article
Computer Science, Artificial Intelligence
Ignacio Sanchez, Agustina D'Jorge, Guilherme Raffo, Alejandro H. Gonzalez, Antonio Ferramosca
Summary: This study presents a novel model predictive path-following control formulation for nonlinear systems with constraints, extended with an obstacle avoidance strategy. By introducing an additional auxiliary trajectory, the feasibility of successive optimization problems is maintained even when the reference curve is unfeasible, and obstacle avoidance is achieved by adding terms in the value functional to maintain convexity of state and output spaces. The proposed control strategy is demonstrated through simulations on an autonomous vehicle subject to input and state constraints.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2021)
Article
Engineering, Marine
Linling Wang, Xiaoyan Xu, Bing Han, Huapeng Zhang
Summary: In this paper, a multi-autonomous underwater vehicle (multi-AUV) formation control method with obstacle avoidance ability in 3D complex underwater environments based on an event-triggered model predictive control (EMPC) is proposed. The effectiveness and superiority of the proposed algorithm are confirmed via simulation and compared with those of other algorithms.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Engineering, Marine
Zhenyi Zhao, Qiao Hu, Haobo Feng, Xinglong Feng, Wenbin Su
Summary: In this study, a hybrid adaptive preference method based on improved artificial potential fields (HAP-IAPF) is proposed to achieve cooperative hunting tasks of multiple autonomous underwater vehicles (AUVs) in complex underwater environments with obstacles. Strategies for obstacle avoidance and hunting are separately designed, and an adaptive weight control unit is used to adjust the preference strategy. The proposed method is demonstrated to be robust and effective in different environments through simulation results comparing with traditional and optimized artificial potential field methods.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Marine
Kun Hao, Jiale Zhao, Zhisheng Li, Yonglei Liu, Lu Zhao
Summary: This paper proposes an AUV global path planning method based on an adaptive genetic algorithm, which can generate high-quality global paths and effectively avoid obstacles in underwater environments.
Article
Engineering, Marine
Lu Liu, Yanping Xu, Zipeng Huang, Haoliang Wang, Anqing Wang
Summary: This paper focuses on the safe cooperative path following for multiple autonomous surface vehicles (ASVs) in the presence of static and dynamic obstacles. By designing switching cooperative guidance laws with collision avoidance and introducing a collision avoidance strategy based on relative angle, a smooth switch between cooperative path following and collision avoidance is achieved. The proposed method is shown to be effective through theoretical analysis and simulation experiments.
Article
Computer Science, Information Systems
Min Zhuang, Ge Li, Kexin Ding
Summary: With the development and maturity of the automated robotics industry, more and more apple plantations are introducing automated picking robotic arms for fruit picking. This study focuses on optimizing the robot's picking performance through obstacle avoidance path planning. The experiment selects the Six degrees of freedom manipulator as the research object and integrates artificial potential field (APF) and A* algorithm for path planning. Additionally, the IRRT algorithm is incorporated to improve the smoothness of the path and avoid local extremum. Simulation experiments verify the effectiveness of the proposed method.
Article
Engineering, Marine
Jianming Miao, Yanyun Wang, Kankan Deng, Xingyu Sun, Wenchao Liu, Zhiqun Guo
Summary: This paper presents a new position error-constrained line-of-sight (PECLOS) path-following (PF) control strategy for an underactuated AUV under multiple disturbances and input constraints. The strategy utilizes an extended state based Kalman-Bucy filter (ESKBF) and auxiliary dynamic compensators to estimate and compensate for disturbances and overcome input constraints. Simulation and comparative analysis demonstrate the enhanced performance of the presented controller.
Article
Automation & Control Systems
Soumya Ranjan Mahapatro, Bidyadhar Subudhi
Summary: A new robust decentralized controller based on a modified linear active disturbance rejection control structure is proposed in this article. The controller is designed in a two-degree-of-freedom internal model control framework to overcome the limitations of extended state observer in active disturbance rejection control. It has been shown to exhibit superior control performance in comparison to the linear active disturbance rejection controller through simulation and experimentation on a coupled tank liquid-level multivariable system.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
(2023)
Article
Engineering, Electrical & Electronic
Swetalina Sarangi, Binod Kumar Sahu, Pravat Kumar Rout
Summary: This paper proposes a new method for identifying and locating high-impedance faults (HIF), using ensemble empirical mode decomposition (EEMD) for feature extraction and adaptive multi-kernel extreme learning machine (AMKELM) for location. The method is enhanced with a simple and flexible forensic-based investigation (FBI) optimization to improve accuracy. Finally, the identification efficacy is evaluated based on accuracy, security, and dependability, and the location exactness is determined using error parameters.
ELECTRICAL ENGINEERING
(2023)
Review
Energy & Fuels
Anindya Bharatee, Pravat Kumar Ray, Bidyadhar Subudhi, Arnab Ghosh
Summary: The limited availability of fossil fuel and the growing energy demand in the world have created global energy challenges. In order to address these challenges, the electric power system has adopted renewable source-based power production system and integrated storage devices. This paper studies the analysis and control of storage devices, as well as power management strategies and control techniques specific to AC/DC microgrids.
Article
Engineering, Multidisciplinary
Zunaib Ali, Ghanim Putrus, Mousa Marzband, Hamid Reza Gholinejad, Komal Saleem, Bidyadhar Subudhi
Summary: This article proposes a novel smart charging controller based on neuro-fuzzy PSO, which considers various factors and optimizes controller response by combining PSO with a neural network. The proposed controller meets EV user requirements, works within technical constraints, and is simple to implement in real time.
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS
(2022)
Article
Energy & Fuels
Sarthak Mohanty, Subhasis Panda, Shubhranshu Mohan Parida, Pravat Kumar Rout, Binod Kumar Sahu, Mohit Bajaj, Hossam M. Zawbaa, Nallapaneni Manoj Kumar, Salah Kamel
Summary: The shift to electric vehicles has brought EV technology to the forefront of power distribution systems, enabling interactions with the grid and integration with demand-side management techniques for improved efficiency and performance.
Article
Green & Sustainable Science & Technology
Binaya Kumar Malika, Vivekananda Pattanaik, Binod Kumar Sahu, Pravat Kumar Rout
Summary: This research focuses on the impact of distributed generation (DG) on the overall system performance at the planning stage. The study aims to minimize active power loss by optimizing bus location, DG size, and power factor. A quasi-oppositional forensic-based investigation (QOFBI) inspired meta-optimization approach is proposed for optimal DG allocation and sizing.
PROCESS INTEGRATION AND OPTIMIZATION FOR SUSTAINABILITY
(2023)
Article
Energy & Fuels
Bhabasis Mohapatra, Binod Kumar Sahu, Swagat Pati, Mohit Bajaj, Vojtech Blazek, Lukas Prokop, Stanislav Misak, Mosleh Alharthi
Summary: Despite the benefits of integrating renewable energy sources with the utility grid, there are still issues with power quality and stability. This article presents an improved arithmetic optimization algorithm and an offset hysteresis band current controller to address these issues. The proposed controller achieves better results by optimizing the design to minimize current error and switching frequency.
Article
Computer Science, Information Systems
Sonam Shrivastava, Bidyadhar Subudhi, Jambeswar Sahu
Summary: This paper presents a hierarchical cyber-physical multi-agent model and a new distributed finite-time secondary controller for an AC microgrid. The proposed control algorithm restores the system voltage and frequency to their nominal value in finite time and achieves quick convergence to a consensus even in the face of disturbances. The control scheme enables plug-and-play capability and effectively reduces load change-induced disturbance.
Article
Engineering, Electrical & Electronic
Swetalina Sarangi, Chinmayee Biswal, Binod Kumar Sahu, Indu Sekhar Samanta, Pravat Kumar Rout
Summary: In this study, a novel fault detection scheme using a modified version of EMD, namely Time-varying filter-based empirical mode decomposition (TVF-EMD), is proposed. The scheme achieves highly effective fault detection under various operating scenarios and can be applied in LVDC distribution systems.
ELECTRIC POWER SYSTEMS RESEARCH
(2023)
Review
Energy & Fuels
Chinmayee Biswal, Binod Kumar Sahu, Manohar Mishra, Pravat Kumar Rout
Summary: The implementation of smart-grid and microgrid concepts into the conventional power system brings complexity due to the inclusion of renewable energy sources and non-linear inverter-based devices. Phasor measurement units (PMUs) play a significant role in improving power system protection through applications such as state estimation, fault detection, and cyberattack identification. However, further research is needed to enhance PMU applications and address existing challenges in order to enhance system resilience against catastrophic events.
Article
Engineering, Electrical & Electronic
Jugajyoti Sahu, Priyambada Satapathy, Binod Kumar Sahu, Pradeep Kumar Mohanty, Amiya Kumar Naik
Summary: This paper discusses the optimal design and implementation of various controllers for automatic generation control (AGC) in a two-area non-reheat thermal power system integrated with dish stirling solar thermal system and wind-turbine system. The controllers, namely fuzzy logic based PID controller, PID controller with filter (PIDF), and fuzzy PIDF (1 + PI) controller, are optimally designed by FBI algorithm and QO-FBI algorithm. The performance analysis shows that the AGC system equipped with QO-FBI based FPIDF (1 + PI) controller outperforms the ICA-FPIDF (1 + PI) controller in terms of frequency and tie-line power deviations.
INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS
(2023)
Article
Engineering, Electrical & Electronic
Diptiman Dey, Bidyadhar Subudhi
Summary: This article presents the design and real-time control of a single-stage grid-connected photovoltaic (SSGCPV) system. An adaptive controller, designed using a normalized least means absolute third (NLMAT) algorithm, is employed to achieve effective grid synchronization. The controller aims to mitigate harmonics generated by nonlinear load and inject active power to the utility grid with unity power factor (PF). Simulation and verification of a 20-kW PV system with the proposed controller are carried out using MATLAB/Simulink and a 1.4-kW prototype. The comparison of the proposed controller with other algorithms shows that it outperforms in terms of total harmonic distortion (THD), even under unbalanced loading and varying irradiance conditions.
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS
(2023)
Article
Energy & Fuels
Narendra Kumar Jena, Subhadra Sahoo, Binod Kumar Sahu, Amiya Kumar Naik, Mohit Bajaj, Stanislav Misak, Vojtech Blazek, Lukas Prokop
Summary: Energy storage is crucial for stabilizing a power system during sudden disturbances. Redox flow batteries (RFBs) were integrated into a five-area interconnected system to improve load frequency control (LFC). The RFB rapidly supplies active power to meet short-term overload and enhance LFC efficiency. A cascade controller with a fractional operator (FO) was designed to address frequency and tie-line power deviations caused by power mismatch. The proposed controller was compared with classical controllers and tested for robustness under different conditions.
Article
Energy & Fuels
Bhabasis Mohapatra, Binod Kumar Sahu, Swagat Pati, Elsayed Tag Eldin, Nivin A. Ghamry, Sherif S. M. Ghoneim
Summary: GCPV rooftop systems are considered as fast development and promising renewable energy sources due to their advantages of low maintenance cost, secure investment, noise-free and no additional space requirement. The controller design plays a crucial role in GCPV performance.
Proceedings Paper
Computer Science, Artificial Intelligence
Geetanjali Dei, Deepak Kumar Gupta, Binod Kumar Sahu
Summary: This work presents a control concept for dealing with load frequency control in a hybrid multi-source power system. The parameters of the controllers are optimally tuned using the Squirrel Search Algorithm (SSA), and the performance of two controllers is compared.
SMART TECHNOLOGIES FOR POWER AND GREEN ENERGY, STPGE 2022
(2023)
