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Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance

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Marine Robotics and Applications

Part of the book series: Ocean Engineering & Oceanography ((OEO,volume 10))

Abstract

In this chapter, the in-mission optimization of the propulsion and control systems of AUVs is developed. This optimization is aimed at obtaining parameters to adapt a dynamically reconfigurable propulsion to underwater infrastrtuctures monitoring missions. The hydrodynamic model of the AUVs is examined. Additionally, a four-thrusters fixed propulsion system is proposed and modelled. A control method using the hydrodynamic model is developed and adapted to our AUV topology. The optimization is used to find suitable vectorial-thrusters orientations and control parameters in order to execute given robotic tasks, speeding up the convergence and minimizing the energy consumption. This is done using a genetic algorithm, which is a stochastic optimization method used here for task-based design. The optimization results are used for readily adapt the vectorial propulsion system to different tasks specificatins, making the AUV dynamically reconfigurable.

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Authors and Affiliations

  1. Ecole Nationale d’IngÃl’nieurs de Brest (ENIB), FRE CNRS 3744 IRDL, TechnopoÌĆle Brest Iroise, 29238, Brest Cedex 03, France

    O. Chocron & E. P. Vega

  2. University of Brest, FRE CNRS 3744 IRDL, 29238, Brest Cedex 03, France

    M. Benbouzid

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  1. O. Chocron
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  2. E. P. Vega
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  3. M. Benbouzid
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Correspondence to O. Chocron .

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Editors and Affiliations

  1. LABSTICC, ENSTA Bretagne, Brest, France

    Luc Jaulin

  2. Department of Information Engineering, Centro di Ricerca Enrico Piaggio, University of Pisa, Pisa, Italy

    Andrea Caiti

  3. Escola Politècnica Superior (UdG), Edifi, Computer Vision and Robotics Institute, University of Girona, Girona, Spain

    Marc Carreras

  4. Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), Montpellier, France

    Vincent Creuze

  5. ISIR, University Pierre and Marie Curie, Paris, France

    Frédéric Plumet

  6. Ocean Sensing and Mapping, ENSTA Bretagne, Brest, France

    Benoît Zerr

  7. Lab-STICC, ENSTA Bretagne, Brest, France

    Annick Billon-Coat

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Chocron, O., Vega, E.P., Benbouzid, M. (2018). Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance. In: Jaulin, L., et al. Marine Robotics and Applications. Ocean Engineering & Oceanography, vol 10. Springer, Cham. https://doi.org/10.1007/978-3-319-70724-2_9

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