التفاصيل البيبلوغرافية
| العنوان: |
Path Planning for Underwater Information Gathering Based on Genetic Algorithms and Data Stochastic Models. |
| المؤلفون: |
Bresciani, Matteo, Ruscio, Francesco, Tani, Simone, Peralta, Giovanni, Timperi, Andrea, Guerrero-Font, Eric, Bonin-Font, Francisco, Caiti, Andrea, Costanzi, Riccardo |
| المصدر: |
Journal of Marine Science & Engineering; Nov2021, Vol. 9 Issue 11, p1183-1183, 1p |
| مصطلحات موضوعية: |
GENETIC algorithms, STOCHASTIC models, POSIDONIA oceanica, AUTONOMOUS underwater vehicles, GAUSSIAN processes |
| مستخلص: |
Recent technological developments have paved the way to the employment of Autonomous Underwater Vehicles (AUVs) for monitoring and exploration activities of marine environments. Traditionally, in information gathering scenarios for monitoring purposes, AUVs follow predefined paths that are not efficient in terms of information content and energy consumption. Informative Path Planning (IPP) represents a valid alternative, defining the path that maximises the gathered information. This work proposes a Genetic Path Planner (GPP), which consists in an IPP strategy based on a Genetic Algorithm, with the aim of generating a path that simultaneously maximises the information gathered and the coverage of the inspected area. The proposed approach has been tested offline for monitoring and inspection applications of Posidonia Oceanica (PO) in three different geographical areas. The a priori knowledge about the presence of PO, in probabilistic terms, has been modelled utilising a Gaussian Process (GP), trained on real marine data. The GP estimate has then been exploited to retrieve an information content of each position in the areas of interest. A comparison with other two IPP approaches has been carried out to assess the performance of the proposed algorithm. [ABSTRACT FROM AUTHOR] |
|
Copyright of Journal of Marine Science & Engineering is the property of MDPI and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Complementary Index |