Fourier series in the planning and optimization of trajectories of autonomous aquatic vehicles
DOI:
https://doi.org/10.61799/2216-0388.1473Keywords:
Fourier series, Mathematical modeling, Mobile robot, Smart aquaculture, Trajectory trackingAbstract
The constant breeding of tilapia in ponds has emerged as a permanent source of income in rural areas, given the steady demand for this product. This work addresses the application of Fourier series and classical control in aquaculture, focusing on the integration of Fourier series for the parameterization of Cartesian trajectories guiding an autonomous vehicle. The vehicle aims to feed tilapia specimens (Oreochromis Niloticus) in an aquaculture tank. The goal is to minimize the construction cost of autonomous vehicle prototypes, ensuring safety through the calculation and correction of speed and acceleration to follow a predefined distribution route, promoting the growth of specimens. This is achieved through a control law based on a mathematical model. The use of parameterized Fourier series allows for efficient calculation of the vehicle's speed and acceleration, reducing the reliance on expensive sensors without compromising the safety of the autonomous vehicle.
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