文章基本信息

标题：Multi-Strategy Navigation for a Mobile Data Acquisition Platform Using Genetic Algorithms
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作者：Fadi Halal ; Marek B. Zaremba
期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2017
卷号：11
期号：1
页码：30
DOI：10.14313/JAMRIS_1-2017/4
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Monitoring of biological and chemical pollutants in large bodies of water requires the acquisition of a large num- ber of in-situ measurements by a mobile sensor platform. Critical to this problem is an efficient path planning meth- od, easily adaptable to different control strategies that ensure the collection of data of the greatest value. This paper proposes a deliberative path planning algorithm, which features the use of waypoints for a ship navigation trajectory that are generated by Genetic Algorithm (GA) based procedures. The global search abilities of Genetic Algorithms are combined with the heuristic local search in order to implement a navigation behaviour suitable to the required data collection strategy. The adaptive search system operates on multi-layer maps generated from remote sensing data, and provides the capacity for dealing with multiple classes of water pollutants. A suitable objective function was proposed to handle dif- ferent sampling strategies for the collection of samples from multiple water pollutant classes. A region-of-inter- est (ROI) component was introduced to deal effectively with the large scale of search environments by pushing the search towards ROI zones. This resulted in the reduc- tion of the search time and the computing cost, as well as good convergence to an optimal solution. The global path planning performance was further improved by multi- point crossover operators running in each GA generation. The system was developed and tested for inland water monitoring and trajectory planning of a mobile sample acquisition platform using commercially available satel- lite data.
关键词：genetic algorithms; path planning; monitor- ; ing system; remote sensing; navigation control; heuristic ; search