An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm
To address the problem of output saturation in the thrust allocation of remotely operated vehicles (ROVs), this paper introduces a thrust distribution optimization technique based on genetic algorithm. Initially, a mathematical model describing the horizontal and vertical thrust of an ROV is establi...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Control and Information Technology
2023-12-01
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| Series: | Kongzhi Yu Xinxi Jishu |
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| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.06.015 |
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| _version_ | 1849224981251096576 |
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| author | XU Lei SONG Junhui TU Shaoping ZHU Jun LI Renxiong |
| author_facet | XU Lei SONG Junhui TU Shaoping ZHU Jun LI Renxiong |
| author_sort | XU Lei |
| collection | DOAJ |
| description | To address the problem of output saturation in the thrust allocation of remotely operated vehicles (ROVs), this paper introduces a thrust distribution optimization technique based on genetic algorithm. Initially, a mathematical model describing the horizontal and vertical thrust of an ROV is established, using the spatial configuration of a miniaturized electric ROV's propellers as foundation. Subsequently, genetic algorithm is employed to optimize thrust allocation for the ROV's horizontal and vertical propellers, with results compared to outcomes from a pseudo-inverse method of thrust allocation. Simulation analysis reveals that the thrust allocation optimized via the genetic algorithm can effectively prevent output saturation and ensures that the resultant force or torque from each propeller's output aligns almost exactly with the intended combined force or torque, maintaining an error within ±1%. |
| format | Article |
| id | doaj-art-c9c0cf0ce5b1455cad0c4db9b3ae5dc5 |
| institution | Kabale University |
| issn | 2096-5427 |
| language | zho |
| publishDate | 2023-12-01 |
| publisher | Editorial Office of Control and Information Technology |
| record_format | Article |
| series | Kongzhi Yu Xinxi Jishu |
| spelling | doaj-art-c9c0cf0ce5b1455cad0c4db9b3ae5dc52025-08-25T06:47:53ZzhoEditorial Office of Control and Information TechnologyKongzhi Yu Xinxi Jishu2096-54272023-12-019810446990305An Optimization Method for Thrust Allocation of ROV Based on Genetic AlgorithmXU LeiSONG JunhuiTU ShaopingZHU JunLI RenxiongTo address the problem of output saturation in the thrust allocation of remotely operated vehicles (ROVs), this paper introduces a thrust distribution optimization technique based on genetic algorithm. Initially, a mathematical model describing the horizontal and vertical thrust of an ROV is established, using the spatial configuration of a miniaturized electric ROV's propellers as foundation. Subsequently, genetic algorithm is employed to optimize thrust allocation for the ROV's horizontal and vertical propellers, with results compared to outcomes from a pseudo-inverse method of thrust allocation. Simulation analysis reveals that the thrust allocation optimized via the genetic algorithm can effectively prevent output saturation and ensures that the resultant force or torque from each propeller's output aligns almost exactly with the intended combined force or torque, maintaining an error within ±1%.http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.06.015ROVpseudo inverse methodthrust allocationgenetic algorithmsimulation analysis |
| spellingShingle | XU Lei SONG Junhui TU Shaoping ZHU Jun LI Renxiong An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm Kongzhi Yu Xinxi Jishu ROV pseudo inverse method thrust allocation genetic algorithm simulation analysis |
| title | An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm |
| title_full | An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm |
| title_fullStr | An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm |
| title_full_unstemmed | An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm |
| title_short | An Optimization Method for Thrust Allocation of ROV Based on Genetic Algorithm |
| title_sort | optimization method for thrust allocation of rov based on genetic algorithm |
| topic | ROV pseudo inverse method thrust allocation genetic algorithm simulation analysis |
| url | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.06.015 |
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