Optimal shape design of an autonomous underwater vehicle based on multi-objective particle swarm optimization
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Optimal shape design of an autonomous underwater vehicle based on multi-objective particle swarm optimization Qirong Tang1
•
Yinghao Li1 • Zhenqiang Deng1 • Di Chen1 • Ruiqin Guo1 • Hai Huang2
Ó Springer Nature B.V. 2019
Abstract Optimization of autonomous underwater vehicle’s shape is usually a multi-objective optimization problem, which is essential for autonomous underwater navigation and manipulation. To overcome the inefficiency of computational fluid dynamics software during the optimization process and the limitations of traditional single-objective optimization, a novel strategy combining genetic expression programming and crowding distance based multi-objective particle swarm algorithm is presented. Its central idea is as follows, several underwater vehicle shapes are analysed to obtain their water resistances and determine the best underwater robot shape. Shape factor of the bow and shape factor of the stern are employed as design variables, and sample points are selected by the optimal latin hypercube design. Then gene expression programming method is used to establish the surrogate model of resistance and surrounded volume. After that, the surrogate model based on the gene expression programming method is compared with that based on the surface respond method. The results show the superiority of the GEP method. Then the resistance and surrounded volume are set as two optimized variables and Pareto optimal solutions are obtained by using multi-objective particle swarm algorithm. Finally, the optimization results are compared with the hydrodynamic calculations, which shows the method proposed in the paper can greatly reduce the cost of computation and improve the efficiency of optimal shape design for underwater vehicle. Keywords Autonomous underwater vehicle Shape optimization Gene expression programming Multi-objective particle swarm optimization
1 Introduction With the land resources depleting, the need for the exploitation and preservation of marine resources has become more and more urgent. Being the indispensable carrier to be encountered in the exploration of marine resources, marine engineering maintenance and so on, underwater robotics have seen an increasing interest from the research institutions and enterprises (Sarkar and Podder 2001). At present, the frequently-used underwater robots
& Qirong Tang [email protected] 1
Laboratory of Robotics and Multibody System, School of Mechanical Engineering, Tongji University, Shanghai 201804, People’s Republic of China
2
National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, People’s Republic of China
include remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). Although the impact of ROVs has been far reaching, limitations still exist in fact closely related with their capabilities (Prats et al. 2011). They are not only very expensive, but also need professional mother ship support and manual interven
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