Original scientific paper
https://doi.org/10.21278/brod75401
An optimized method for AUV trajectory model in benthonic hydrothermal area based on improved slime mold algorithm
Chunmeng Jiang
; Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China
Yiming Tang
; Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China
*
Jianguo Wang
; China Ship Development and Design Center, Wuhan 430064, China
Wenchao Zhang
; Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China
Min Zhou
; Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China
Jiaying Niu
; Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China
Lei Wan
; School of Naval Engineering, Harbin Engineering University, Harbin 150001, China
Guofang Chen
; School of Naval Engineering, Harbin Engineering University, Harbin 150001, China
Gongxing Wu
; College of Ocean Science and Engineering, Shanghai Maritime University, Shanghai 201306, China
Xide Cheng
; School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China
* Corresponding author.
Abstract
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.
Keywords
Autonomous underwater vehicle; benthonic hydrothermal area; trajectory tracking model; improved slime mold algorithm
Hrčak ID:
321443
URI
Publication date:
1.9.2024.
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