Design and construction of an autonomous underwater vehicle
Design and construction of an autonomous underwater vehicle
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DOI：
10.1016/j.neucom.2013.12.055
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发表时间：
2014-10
期刊：
影响因子：
6
通讯作者：
Khairul Alam;T. Ray;S. Anavatti
中科院分区：
文献类型：
--
作者：
Khairul Alam;T. Ray;S. Anavatti
自主水下航行器 (AUV) 在海洋探索、军事和工业应用中越来越受欢迎。特别是，AUV 正在成为水下搜索和调查作业的一个有吸引力的选择，因为与有人驾驶的车辆相比，它们价格便宜。以前对 AUV 设计的尝试主要集中在功能设计上，而很少有研究致力于确定最佳设计。本文提出了一种用于 AUV 设计的优化框架，使用两种最先进的基于群体的优化算法，即非支配排序遗传算法（NSGA-II）和不可行性驱动进化算法（IDEA）。该框架随后用于确定总长 1.3 m 的鱼雷形 AUV 的最佳设计。在计算机辅助设计工具 CATIA 的帮助下，对通过优化过程确定的初步设计进行进一步分析，以生成详细设计。详细设计已完成，目前正在进行试验。还证明了所提出框架的灵活性及其根据不同用户需求确定 AUV 最佳初步设计的能力。
Autonomous underwater vehicles (AUVs) are becoming increasingly popular for ocean exploration, military and industrial applications. In particular, AUVs are becoming an attractive option for underwater search and survey operations as they are inexpensive compared to manned vehicles. Previous attempts on AUV designs have focused primarily on functional designs while very little research has been directed to identify optimum designs. This paper presents an optimization framework for the design of AUVs using two state-of-the-art population based optimization algorithms, namely non-dominated sorting genetic algorithm (NSGA-II) and infeasibility driven evolutionary algorithm (IDEA). The framework is subsequently used to identify the optimal design of a torpedo-shaped AUV with an overall length of 1.3 m. The preliminary design identified through the process of optimization is further analyzed with the help of a computer-aided design tool, CATIA to generate a detailed design. The detailed design has since then been built and is currently undergoing trials. The flexibility of the proposed framework and its ability to identify optimum preliminary designs of AUVs with different sets of user requirements are also demonstrated.