The development of mopso-based dynamic routing algorithm for the inspection of autonomous underwater vehicle

Yu Hsien Lin, Lin Chin Huang, Shao Yu Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this study, the authors developed the dynamic routing algorithm combining an image detection technique to support the optimal route plan of Autonomous Underwater Vehicle (AUV) inspecting an offshore wind farm affected by ocean currents. A modular structure is applied to program design by the graphical language, LabVIEW (Laboratory Virtual Instrument Engineering Workbench). The modular structure is composed of 6-DOF (Six Degrees-of-Freedom) motion module, a self-tuning fuzzy control module, a stereo-vision detection module, and a dynamic routing module. In terms of path planning for inspection, several Pareto frontiers are solved iteratively according to two objectives, namely, cruise time and energy consumption. Performances obtained from MOPSO (Multi-Objective Particle Swarm Optimization) -based dynamic routing algorithm would be in comparison with those from SOPSO (Single-Objective Particle Swarm Optimization) -based dynamic routing algorithm. In addition, selections of fixed weight and dynamic weight of MOPSO-based dynamic routing algorithms would be discussed in the environment with or without ocean currents. Eventually, the image inspection mode is not only beneficial for optimizing feasible routes but it can also identify features of obstacles for positioning.

Original languageEnglish
Title of host publicationOcean Engineering
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791857731
DOIs
Publication statusPublished - 2017 Jan 1
EventASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2017 - Trondheim, Norway
Duration: 2017 Jun 252017 Jun 30

Publication series

NameProceedings of the International Conference on Offshore Mechanics and Arctic Engineering - OMAE
Volume7A-2017

Other

OtherASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2017
CountryNorway
CityTrondheim
Period17-06-2517-06-30

All Science Journal Classification (ASJC) codes

  • Ocean Engineering
  • Energy Engineering and Power Technology
  • Mechanical Engineering

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