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Three-dimensional path planning for a novel sediment sampler in ocean environment based on an improved mutation operator genetic algorithm.
- Source :
-
Ocean Engineering . Dec2023:Part 1, Vol. 289, pN.PAG-N.PAG. 1p. - Publication Year :
- 2023
-
Abstract
- A stable and efficient path planning algorithm can improve the accuracy and efficiency of sediment sampling process. To determine a path that can guide the sampler to the preset landing point within the shortest traveling time, an improved mutation operator genetic algorithm (IMOGA) is proposed herein. First, an attitude-adjusting mechanism is introduced. Then, a three-dimensional ocean current model is developed. A hydrodynamic model of the sediment sampler is developed via CFD simulations, and an adaptive cost function for the path-planning mathematical model is proposed to improve the convergence problem. Finally, the problem is solved using a basic genetic algorithm and IMOGA separately. The comparison of the simulation results reveals that the IMOGA can achieve a better global optimal solution in less computing time than the basic genetic algorithm. The improved path planning algorithm can be used for sediment samplers and landers that deploy instruments at a designated point as well as for profiles that need to adjust their position. • Accurate and efficient sediment sampling through three-dimensional path planning based on genetic algorithm. • The adaptive cost function solves the convergence problem. • The algorithm based on a mutation probability distribution function saves computing time and sampler falling time. • The influence of algorithm control parameters is evaluated and the achievable region is analyzed. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00298018
- Volume :
- 289
- Database :
- Academic Search Index
- Journal :
- Ocean Engineering
- Publication Type :
- Academic Journal
- Accession number :
- 173698220
- Full Text :
- https://doi.org/10.1016/j.oceaneng.2023.116142