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Genetic algorithm-based multiple moving target reaching using a fleet of sailboats

Christophe Viel 1 Ulysse Vaultier 1 Jian Wan 1 Luc Jaulin 2
2 Lab-STICC_ENSTAB_CID_PRASYS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
Abstract : This study addresses the problem of Dynamic Travelling Salesman Problem for a multi-agent system using a fleet of sailboats. A genetic algorithm (GA) is proposed, which attributes to each agent a varying number of targets to be collected. GA allows obtaining a suboptimal solution in the shortest time possible. Moreover, this study adapts it to the specific problem involving a fleet of sailboats, which is a challenging task with comparison to autonomous underwater vehicles or motorised vehicles in terms of the propulsion. Therein motors can be flexibly controlled while sailboat movements are constrained by available wind direction and speed. Thus the method takes into account wind conditions at various locations of the sailboat. Simulation results demonstrate the effectiveness of the proposed approach.
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Article dans une revue
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https://hal-ensta-bretagne.archives-ouvertes.fr/hal-02434947
Contributeur : Marie Briec <>
Soumis le : vendredi 10 janvier 2020 - 14:29:59
Dernière modification le : mercredi 5 août 2020 - 03:49:21

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Christophe Viel, Ulysse Vaultier, Jian Wan, Luc Jaulin. Genetic algorithm-based multiple moving target reaching using a fleet of sailboats. IET Cyber-Systems and Robotics, 2019, 1 (3), pp.93-100. ⟨10.1049/iet-csr.2019.0029⟩. ⟨hal-02434947⟩

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