Journal
APPLIED OCEAN RESEARCH
Volume 75, Issue -, Pages 178-192Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.apor.2018.03.016
Keywords
Image detection; Underwater inspection; Dynamic routing algorithm; Fuzzy control; MOPSO
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Funding
- Ministry of Science and Technology [MOST 106-2221-E-006-114]
- International Wave Dynamics Research Center (IWDRC)
- National Cheng Kung University [MOST 106-2911-1-006-301]
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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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