Evolutionary Path Planning of an Autonomous Surface Vehicle for Water Quality Monitoring
Mario Arzamendia, Derlis O. Gregor, Daniel Gutiérrez Reina, Sergio Luis Toral, Raúl Gregor · 2016
The path planning of an ASV in a lake for environmental monitoring has been modeled as a particular case of the travelling salesman problem, in which the ASV should visit a ring of beacons deployed at the shore of the lake for delivering the collected data. For achieving a complete representation of the lake, the distance travelled should be maximized instead of minimized as in the classic TSP. The evolutionary technique known as Genetic Algorithm is applied for finding the optimal solution. The simulations show promising results even in the case that some restrictions are included in the problem.