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Spatial Multiobjective Optimization of Agricultural Conservation Practices using a SWAT Model and an Evolutionary Algorithm

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An Approach to Multi-Objective Path Planning Optimization for Underwater Gliders.

Carlos Lucas^1,2, Daniel Hernández-Sosa², David Greiner²

¹Oceanic Observatory of Madeira, Agência Regional para o Desenvolvimento da Investigação Tecnologia e Inovação, Ed. Madeira Tecnopolo, 9020-105 Funchal, Madeira, Portugal.

Sensors (Basel, Switzerland)

|December 19, 2019

Summary

This summary is machine-generated.

Underwater gliders use buoyancy for efficient ocean data collection. This study optimizes their path planning using NSGA-II for complex currents, ensuring mission success.

Keywords:

NSGA-II genetic algorithm multi-objective optimization path planning underwater glider

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Area of Science:

Robotics
Oceanography
Optimization

Background:

Underwater gliders are energy-efficient, multi-sensor platforms for long-term ocean data collection.
Their low speed necessitates meticulous mission planning, especially in dynamic ocean currents.
Glider missions often involve multiple objectives, creating complex path planning challenges.

Purpose of the Study:

To analyze the application of the Non-Dominated Sorting Genetic Algorithm II (NSGA-II) for multi-objective (MO) underwater glider path planning.
To address path planning in complex environments with 3D, time-varying ocean currents.
To optimize glider trajectories for enhanced mission success and safety.

Main Methods:

Utilized a glider kinematic simulator integrated with the NSGA-II algorithm.
Conducted multiple experiments varying control parameters to identify optimal configurations.
Applied NSGA-II to solve a multi-objective path planning problem in a simulated ocean environment.

Main Results:

The NSGA-II algorithm successfully optimized multi-objective glider trajectories.
The system generated non-dominated solutions, offering a range of optimal paths.
Identified effective parameter configurations for NSGA-II in glider path planning.

Conclusions:

The developed system can optimize glider paths considering multiple mission objectives and complex ocean currents.
This planning tool can assist pilots in selecting optimal paths based on ocean forecasts.
The approach enhances the feasibility of complex, multi-objective missions for underwater gliders.