Multi-objective Route Planning for Underwater Cleaning Robot in Water Reservoir Tank
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Multi-objective Route Planning for Underwater Cleaning Robot in Water Reservoir Tank Mohd Saiful Azimi Mahmud1 · Mohamad Shukri Zainal Abidin1 Abioye Abiodun Emmanuel1,2 · Hameedah Sahib Hasan1,3
· Salinda Buyamin1 ·
Received: 25 March 2020 / Accepted: 25 November 2020 © Springer Nature B.V. 2020
Abstract Underwater tank cleaning using robotic method is very crucial due to the concern on the diver’s safety in undisrupted water supply operation. A Remotely Operated Underwater Vehicles (ROV) used in the tank cleaning operation however, suffers from a high operational cost due to the lack of systematic operator guidance in robot maneuvering. This paper presents a multi-objective approach in designing a Decision Support System (DSS) for underwater cleaning robot. To explore all feasible path, the path alternatives for every cleaning point in the tank is found using Probabilistic Roadmap (PRM). Then, an optimized sequential route are identified using Non-Dominated Sorting Genetic Algorithm using Reference Point Based (NSGA-III). Several objectives such as path length and routing angle are considered to be optimized, while ensuring constraints such as similar deployment point, maximum daily time limit and cable entanglement. To measure the quality of the proposed solution, comparisons have been done based on performance of NSGA-III with Non-Dominated Sorting Genetic Algorithm II (NSGA-II) and Multi-Objective Particle Swarm Optimization (MOPSO) by considering the C-Metric value, execution time and estimated cleaning duration. In addition, comparisons with conventional path by human operator is also conducted to validate the significance of DSS application in underwater tank cleaning. Results have shown that NSGAIII has superiorities with an improvement of 11.11% in cleaning time as compared to NSGA-II and 5.12% improvement compared to MOPSO. Keywords Multi-objective · Navigation · Underwater robot · Tank cleaning · Water reservoir
1 Introduction Underwater robots are used in various applications including surveillance, mapping, welding, inspections, assembly and underwater cleaning [1]. Autonomous Underwater Vehicles (AUVs) usually used in surveillance and mapping whereas Remotely Operated Underwater Vehicles (ROVs) Mohamad Shukri Zainal Abidin
[email protected] Mohd Saiful Azimi Mahmud [email protected] 1
School of Electrical Engineering, Faculty of Engineering, Universiti Teknologi Malaysia Skudai, Johor, Malaysia
2
Department of Electrical/Electronic Engineering, Akanu Ibiam Federal Polytechnic, Unwana, Ebonyi State, Nigeria
3
Ministry of Higher Education and Scientific Research, Baghdad, Iraq
normally perform some precise tasks such as assembly, welding and underwater cleaning [2]. In the past few years, an increase in demands for ROV and AUV has been reported and it indicates an increasing importance of underwater robot applications in the near future [3]. Even though the cost of AUV is higher compared to ROV as the autonomous system uses cutting-edge technologies, the operational cost of ROV is sometimes higher
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