An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm
The optimization of the desired autonomous underwater vehicle (AUV) trajectory modeling and AUV trajectory tracking control in the benthonic hydrothermal area were studied. In the conventional trajectory tracking model construction methods, the time points were roughly combined with the position poi...
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| Format: | Article |
| Language: | English |
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Faculty of Mechanical Engineering and Naval Architecture
2024-01-01
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| Series: | Brodogradnja |
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| Online Access: | https://hrcak.srce.hr/file/464591 |
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| author | Chunmeng Jiang Yiming Tang Jianguo Wang Wenchao Zhang Min Zhou Jiaying Niu Lei Wan Guofang Chen Gongxing Wu Xide Cheng |
| author_facet | Chunmeng Jiang Yiming Tang Jianguo Wang Wenchao Zhang Min Zhou Jiaying Niu Lei Wan Guofang Chen Gongxing Wu Xide Cheng |
| author_sort | Chunmeng Jiang |
| collection | DOAJ |
| description | The optimization of the desired autonomous underwater vehicle (AUV) trajectory modeling and AUV trajectory tracking control in the benthonic hydrothermal area were studied. In the conventional trajectory tracking model construction methods, the time points were roughly combined with the position points of the planned path, making it difficult to produce a smooth trajectory. Although the spline interpolation method was an ideal option for smooth curves, a great number of points were needed for a complex desired trajectory mode. In response to the demanding requirements of AUV trajectory tracking control in the benthonic hydrothermal area, an under-actuated test platform was first established, and the cubic spline interpolation was adopted to process the preset path points for a smooth desired trajectory. An improved slime mold algorithm (SMA) was put forward to optimize the interpolating points used in the trajectory modeling. The Levy flight technology and the compactness technique to speed up the search process and increase the search accuracy. The simulation experiments were conducted in comparison with the artificial fish swarm algorithm (AFSA), the particle swarm optimization (PSO), and the compact cuckoo search (CCS). The results showed that the improved SMA shortened the search process, effectively avoided the local extreme values, and generated a high-precision desired trajectory model in a shorter time. The pool test also verified the feasibility and effectiveness of the proposed method. The method proposed in this study can satisfy the modeling of benthonic hydrothermal trajectory with a fewer number of nodes, faster search progress and search accuracy. |
| format | Article |
| id | doaj-art-a814ee4d45914dad9162ad04eb436947 |
| institution | Kabale University |
| issn | 0007-215X 1845-5859 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Faculty of Mechanical Engineering and Naval Architecture |
| record_format | Article |
| series | Brodogradnja |
| spelling | doaj-art-a814ee4d45914dad9162ad04eb4369472025-01-09T11:42:05ZengFaculty of Mechanical Engineering and Naval ArchitectureBrodogradnja0007-215X1845-58592024-01-0175412510.21278/brod75401An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithmChunmeng Jiang0Yiming Tang1Jianguo Wang2Wenchao Zhang3Min Zhou4Jiaying Niu5Lei Wan6Guofang Chen7Gongxing Wu8Xide Cheng9Wuhan Institute of Shipbuilding Technology, Wuhan 430050, ChinaWuhan Institute of Shipbuilding Technology, Wuhan 430050, ChinaChina Ship Development and Design Center, Wuhan 430064, ChinaWuhan Institute of Shipbuilding Technology, Wuhan 430050, ChinaWuhan Institute of Shipbuilding Technology, Wuhan 430050, ChinaWuhan Institute of Shipbuilding Technology, Wuhan 430050, ChinaSchool of Naval Engineering, Harbin Engineering University, Harbin 150001, ChinaSchool of Naval Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, ChinaSchool of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, ChinaThe optimization of the desired autonomous underwater vehicle (AUV) trajectory modeling and AUV trajectory tracking control in the benthonic hydrothermal area were studied. In the conventional trajectory tracking model construction methods, the time points were roughly combined with the position points of the planned path, making it difficult to produce a smooth trajectory. Although the spline interpolation method was an ideal option for smooth curves, a great number of points were needed for a complex desired trajectory mode. In response to the demanding requirements of AUV trajectory tracking control in the benthonic hydrothermal area, an under-actuated test platform was first established, and the cubic spline interpolation was adopted to process the preset path points for a smooth desired trajectory. An improved slime mold algorithm (SMA) was put forward to optimize the interpolating points used in the trajectory modeling. The Levy flight technology and the compactness technique to speed up the search process and increase the search accuracy. The simulation experiments were conducted in comparison with the artificial fish swarm algorithm (AFSA), the particle swarm optimization (PSO), and the compact cuckoo search (CCS). The results showed that the improved SMA shortened the search process, effectively avoided the local extreme values, and generated a high-precision desired trajectory model in a shorter time. The pool test also verified the feasibility and effectiveness of the proposed method. The method proposed in this study can satisfy the modeling of benthonic hydrothermal trajectory with a fewer number of nodes, faster search progress and search accuracy.https://hrcak.srce.hr/file/464591autonomous underwater vehiclebenthonic hydrothermal areatrajectory tracking modelimproved slime mold algorithm |
| spellingShingle | Chunmeng Jiang Yiming Tang Jianguo Wang Wenchao Zhang Min Zhou Jiaying Niu Lei Wan Guofang Chen Gongxing Wu Xide Cheng An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm Brodogradnja autonomous underwater vehicle benthonic hydrothermal area trajectory tracking model improved slime mold algorithm |
| title | An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm |
| title_full | An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm |
| title_fullStr | An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm |
| title_full_unstemmed | An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm |
| title_short | An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm |
| title_sort | optimized method for auv trajectory model in benthonic hydrothermal area based on improved slime mold algorithm |
| topic | autonomous underwater vehicle benthonic hydrothermal area trajectory tracking model improved slime mold algorithm |
| url | https://hrcak.srce.hr/file/464591 |
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