Journal
IEEE ACCESS
Volume 7, Issue -, Pages 78665-78674Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2019.2922689
Keywords
AUV docking; path optimization; quantum behaved evolutionary algorithm
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Funding
- National Key Research and Development Program of China [2016YFC0301700]
- National Science Foundation of China (NSFC) [61473224]
- Fundamental Research Funds for the Central Universities [3102017OQD069]
- 111 Project [B18041]
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AUV docking requires the platform to have both wide range cruising and accurate operating abilities, to against challenges of ocean currents, obstacles, and constraints. This paper proposed an evolutionary-based method, for the purpose of docking path optimization. First, the ocean environment and constraints are analyzed and modeled. Next, the control points are designed to satisfy the model constraints. Then, the adaptive law and quantum behavior are introduced in particle swarm optimization (PSO), to achieve global time-optimization. Finally, the proposed approach is evaluated via Monte-Carlo trials, which demonstrates a significant improvement with respect to the state-of-the-art approaches.
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