An interval number optimization algorithm for path planning of robotic fish in the uncertain environment with ocean currents
Robotic fish is more and more widely used in the ocean engineering field because of its advantages in invisibility, efficiency, mobility and so on, whose path planning is an important issue to accomplish underwater missions. However, the uncertainty of ocean currents is existed inevitably in practic...
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| Vydáno v: | Journal of marine science and technology Ročník 30; číslo 4; s. 980 - 995 |
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| Médium: | Journal Article |
| Jazyk: | angličtina |
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Tokyo
Springer Japan
09.10.2025
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| ISSN: | 0948-4280, 1437-8213 |
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| Abstract | Robotic fish is more and more widely used in the ocean engineering field because of its advantages in invisibility, efficiency, mobility and so on, whose path planning is an important issue to accomplish underwater missions. However, the uncertainty of ocean currents is existed inevitably in practice, which has great influence on path planning design for the robotic fish. The objective functions including path travel time, smoothness and safety factor are given to evaluate the performance for path planning in this paper, and interval number path planning problem is proposed for robotic fish in uncertain ocean environment. Based on the interval number theory, the uncertain path planning issue for robotic fish is transformed into a two-level and two-objective optimization problem, which is solved to obtain the robust optimal path by the genetic algorithm. The proposed interval number optimization algorithm has good decision space; the decisions can be made by the decision-makers flexibly in light of the experimental analysis. The simulation results illustrate the effectiveness and feasibility of the proposed algorithm. |
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| AbstractList | Robotic fish is more and more widely used in the ocean engineering field because of its advantages in invisibility, efficiency, mobility and so on, whose path planning is an important issue to accomplish underwater missions. However, the uncertainty of ocean currents is existed inevitably in practice, which has great influence on path planning design for the robotic fish. The objective functions including path travel time, smoothness and safety factor are given to evaluate the performance for path planning in this paper, and interval number path planning problem is proposed for robotic fish in uncertain ocean environment. Based on the interval number theory, the uncertain path planning issue for robotic fish is transformed into a two-level and two-objective optimization problem, which is solved to obtain the robust optimal path by the genetic algorithm. The proposed interval number optimization algorithm has good decision space; the decisions can be made by the decision-makers flexibly in light of the experimental analysis. The simulation results illustrate the effectiveness and feasibility of the proposed algorithm. |
| Author | Liu, Bing Wang, Tao Li, Hongyu Tian, Qunhong Li, Jialin |
| Author_xml | – sequence: 1 givenname: Qunhong orcidid: 0009-0001-2346-4356 surname: Tian fullname: Tian, Qunhong email: tianqunhong@sdust.edu.cn organization: College of Ocean Science and Engineering, Shandong University of Science and Technology – sequence: 2 givenname: Jialin surname: Li fullname: Li, Jialin organization: College of Ocean Science and Engineering, Shandong University of Science and Technology – sequence: 3 givenname: Tao surname: Wang fullname: Wang, Tao organization: College of Mechanical and Electronic Engineering, Shandong University of Science and Technology – sequence: 4 givenname: Bing surname: Liu fullname: Liu, Bing organization: College of Mechanical and Electronic Engineering, Shandong University of Science and Technology – sequence: 5 givenname: Hongyu surname: Li fullname: Li, Hongyu organization: College of Ocean Science and Engineering, Shandong University of Science and Technology |
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| Keywords | Path planning Robust optimization, interval number Robotic fish Ocean currents |
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| Title | An interval number optimization algorithm for path planning of robotic fish in the uncertain environment with ocean currents |
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