TY - JOUR
T1 - The optimal route planning for inspection task of autonomous underwater vehicle composed of MOPSO-based dynamic routing algorithm in currents
AU - Lin, Yu Hsien
AU - Huang, Lin Chin
AU - Chen, Shao Yu
AU - Yu, Chao Ming
N1 - Funding Information:
The authors would like to express their thanks to the Ministry of Science and Technology for a grant under Contract No. MOST 106-2221-E-006-114. The partial support coming from the International Wave Dynamics Research Center ( IWDRC ), National Cheng Kung University , for a grant under Contract No . MOST 106-2911-I-006-301 is very appreciated. The authors also thank Prof. M. C. Fang for his precious advice in this study.
PY - 2018/6
Y1 - 2018/6
N2 - For supporting the dynamic routing plan more efficiently, this study has been established by integrating PSO (Particle Swarm Optimization) −based dynamic routing algorithm, self-tuning fuzzy controller, a stereo-vision detection technique and 6-DOF mathematical model into the inspection system of AUV (Autonomous Underwater Vehicle). Specifically, the PSO-based dynamic routing algorithm is modified by adopting the concept of Multi-Objective Particle Swarm Optimization (MOPSO), which is able to handle different weights of objectives in parallel. Therefore, a modular structure is applied to program design of the system by using the graphical language, LabVIEW®, which is composed of 6-DOF motion module, a self-tuning fuzzy control module, a stereo-vision detection module, and a dynamic routing module. Performances resulted from the MOPSO-based dynamic routing algorithm would be discussed by conducting a series of inspection tasks in the imitated offshore wind farm. Additionally, selections of fixed weight and dynamic weight of MOPSO-based dynamic routing algorithm would be compared via Pareto frontiers for feasible solutions of both sailing time and energy consumption. Eventually, it is verified that the MOPSO-based dynamic routing algorithm in our system is not only able to estimate the feasible routes intelligently, but also identify features of underwater structures for the purpose of positioning.
AB - For supporting the dynamic routing plan more efficiently, this study has been established by integrating PSO (Particle Swarm Optimization) −based dynamic routing algorithm, self-tuning fuzzy controller, a stereo-vision detection technique and 6-DOF mathematical model into the inspection system of AUV (Autonomous Underwater Vehicle). Specifically, the PSO-based dynamic routing algorithm is modified by adopting the concept of Multi-Objective Particle Swarm Optimization (MOPSO), which is able to handle different weights of objectives in parallel. Therefore, a modular structure is applied to program design of the system by using the graphical language, LabVIEW®, which is composed of 6-DOF motion module, a self-tuning fuzzy control module, a stereo-vision detection module, and a dynamic routing module. Performances resulted from the MOPSO-based dynamic routing algorithm would be discussed by conducting a series of inspection tasks in the imitated offshore wind farm. Additionally, selections of fixed weight and dynamic weight of MOPSO-based dynamic routing algorithm would be compared via Pareto frontiers for feasible solutions of both sailing time and energy consumption. Eventually, it is verified that the MOPSO-based dynamic routing algorithm in our system is not only able to estimate the feasible routes intelligently, but also identify features of underwater structures for the purpose of positioning.
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U2 - 10.1016/j.apor.2018.03.016
DO - 10.1016/j.apor.2018.03.016
M3 - Article
AN - SCOPUS:85045384911
VL - 75
SP - 178
EP - 192
JO - Applied Ocean Research
JF - Applied Ocean Research
SN - 0141-1187
ER -
