Two-Level Evolutionary Approach to Persistent Surveillance for Multiple Underwater Vehicles with Energy Constraints

Q3 Mathematics
I. Bychkov, M. Kenzin, N. Maksimkin
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引用次数: 8

Abstract

Currently, the coordinated use of autonomous underwater vehicles groups seems to be the most promising and ambitious technology to provide a solution to the whole range of oceanographic problems. Complex and large-scale underwater operations usually involve long stay activities of robotic groups under the limited vehicle’s battery capacity. In this context, available charging station within the operational area is required for long-term mission implementation. In order to ensure a high level of group performance capability, two following problems have to be handled simultaneously and accurately – to allocate all tasks between vehicles in the group and to determine the recharging order over the extended period of time. While doing this, it should be taken into account, that the real world underwater vehicle systems are partially self-contained and could be subjected to any malfunctions and unforeseen events. The article is devoted to the suggested two-level dynamic mission planner based on the rendezvous point selection scheme. The idea is to divide a mission on a series of time-limited operating periods with the whole group rendezvous at the end of each period. The high-level planner’s objective here is to construct the recharging schedule for all vehicles in the group ensuring well-timed energy replenishment while preventing the simultaneous charging of a plenitude of robots. Based on this schedule, mission is decomposed to assign group rendezvous to each regrouping event (robot leaving the group for recharging or joining the group after recharging). This scheme of periodic rendezvous allows group to keep up its status regularly and to re-plan current strategy, if needed, almost on-the-fly. Low-level planner, in return, performs detailed group routing on the graph-like terrain for each operating period under vehicle’s technical restrictions and task’s spatiotemporal requirements. In this paper, we propose the evolutionary approach to decentralized implementation of both path planners using specialized heuristics, solution improvement techniques, and original chromosome-coding scheme. Both algorithm options for group mission planner are analyzed in the paper; the results of computational experiments are given.
能量约束下多水下航行器持续监视的两级进化方法
目前,自主水下航行器组的协同使用似乎是最有前途和雄心勃勃的技术,可以为一系列海洋学问题提供解决方案。复杂和大规模的水下作业通常需要机器人团队在有限的车辆电池容量下进行长时间的停留活动。在这方面,需要在业务区内有充电站,以便长期执行任务。为了保证高水平的组性能,必须同时准确地处理以下两个问题:在组内车辆之间分配所有任务以及确定长时间内的充电顺序。在这样做的时候,应该考虑到,现实世界的水下航行器系统是部分独立的,可能会受到任何故障和不可预见的事件的影响。本文研究了基于交会点选择方案的两级动态任务规划方案。这个想法是将一个任务划分为一系列有时间限制的行动时期,整个小组在每个时期结束时集合。高层规划者的目标是构建群组中所有车辆的充电计划,确保及时补充能量,同时防止大量机器人同时充电。在此计划的基础上,对任务进行分解,为每一个重组事件(机器人离开群体进行充电或在充电后加入群体)分配群体交会。这种定期会合的方案允许小组定期保持其状态,并在需要时几乎在飞行中重新规划当前的策略。底层规划器则根据车辆的技术限制和任务的时空要求,在每个运行时段的图形地形上执行详细的分组路由。在本文中,我们提出了一种进化的方法来分散实现路径规划器,使用专门的启发式,解决方案改进技术和原始的染色体编码方案。分析了群任务规划器的两种算法选择;给出了计算实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
SPIIRAS Proceedings
SPIIRAS Proceedings Mathematics-Applied Mathematics
CiteScore
1.90
自引率
0.00%
发文量
0
审稿时长
14 weeks
期刊介绍: The SPIIRAS Proceedings journal publishes scientific, scientific-educational, scientific-popular papers relating to computer science, automation, applied mathematics, interdisciplinary research, as well as information technology, the theoretical foundations of computer science (such as mathematical and related to other scientific disciplines), information security and information protection, decision making and artificial intelligence, mathematical modeling, informatization.
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