Evolutionary Path planning of an Autonomous Surface Vehicle for Water Quality Monitoring

被引：12

作者：

Arzamendia, M. ^{[1
]}

Gregor, D. ^{[2
]}

Reina, D. G. ^{[1
]}

Toral, S. L. ^{[1
]}

Gregor, R. ^{[2
]}

机构：

[1] Univ Seville, Elect Elect Dept, ACETI Res Grp, Camino Los Descubrimientos S-N, Seville, Spain

[2] Natl Univ Asuncion, Fac Engn, Lab Distributed Syst, Campo Via y San Antonio, Luque, Paraguay

来源：

2016 9TH INTERNATIONAL CONFERENCE ON DEVELOPMENTS IN ESYSTEMS ENGINEERING (DESE 2016) | 2016年

关键词：

Environmental Monitoring; Autonomous Surface Vehicles (ASV); Genetic Algorithms; Travelling Salesman Problem (TSP; Distributed System (DS); GENETIC ALGORITHMS;

D O I：

10.1109/DeSE.2016.39

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The path planning of an ASV in a lake for environmental monitoring has been modeled as a particular case of the travelling salesman problem, in which the ASV should visit a ring of beacons deployed at the shore of the lake for delivering the collected data. For achieving a complete representation of the lake, the distance travelled should be maximized instead of minimized as in the classic TSP. The evolutionary technique known as Genetic Algorithm is applied for finding the optimal solution. The simulations show promising results even in the case that some restrictions are included in the problem.

引用

页码：245 / 250

页数：6

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