Robust Optimization Design for Path Planning of Bionic Robotic Fish in the Presence of Ocean Currents

摘要

The bionic robotic fish is one of the special autonomous underwater vehicles (AUV), whose path planning is crucial for many applications including underwater environment detection, archaeology, pipeline leak detection, and so on. However, the uncertain ocean currents increase the difficulty of path planning for bionic robotic fish in practice. In this paper, the path energy consumption is selected as the objective function for path planning, path safety factor, and smoothness are considered as the constraint conditions. The kinematic model is established for bionic robotic fish and, considering the uncertainty of ocean currents, a “min-max” robust optimization problem is proposed in the light of the normal optimization model of path planning for bionic robotic fish. The co-evolutionary genetic algorithm is presented to solve the robust optimization problem with two populations; one population represents the solutions and the other represents the uncertain ocean currents. The objective of the proposed algorithm is to find a robust solution that has the best worst-case performance over a set of possible ocean currents. Multiple experiments indicate that the proposed algorithm is very effective for path planning for bionic robotic fish with ocean currents.