Reactive evolutionary path planning for autonomous surface vehicles in lake environments
Autonomous Surface Vehicles (ASVs) have found a lot of promising applications in aquatic environments, i.e., sea, lakes, rivers, etc. They can be used for applications of paramount importance, such as environmental monitoring of water resources, and for bathymetry to study the characteristics of the...
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| Egile nagusia: | |
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| Formatua: | doctoralThesis |
| Hizkuntza: | ingelesa |
| Argitaratua: |
2018
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| Gaiak: | |
| Sarrera elektronikoa: | http://hdl.handle.net/20.500.14066/3540 |
| Etiketak: |
Etiketarik gabe, Izan zaitez lehena erregistro honi etiketa jartzen!
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| _version_ | 1870612066216181760 |
|---|---|
| author | Arzamendia López, Mario Eduardo |
| author_browse | Arzamendia López, Mario Eduardo |
| author_facet | Arzamendia López, Mario Eduardo |
| author_role | author |
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| bitstream.checksumAlgorithm.fl_str_mv | MD5 MD5 MD5 MD5 MD5 |
| bitstream.url.fl_str_mv | http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3540/1/Reactive%20evolutionary%20path%20planning%20for%20autonomous%20surface%20vehicles%20in%20lake%20environments http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3540/2/license.txt http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3540/3/PINV15-177-Tesis-Mario-Arzamendia.pdf.txt http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3540/5/Reactive%20evolutionary%20path%20planning%20for%20autonomous%20surface%20vehicles%20in%20lake%20environments.txt http://repositorio.conacyt.gov.py/bitstream/20.500.14066/3540/4/Reactive%20evolutionary%20path%20planning.jpg |
| dc.contributor.advisor.es.fl_str_mv | Gutierrez Reina, Daniel Gregor Recalde, Derlis Orlando |
| dc.contributor.advisor.none.fl_str_mv | Toral Marin, Sergio |
| dc.contributor.other.es.fl_str_mv | Universidad Nacional de Asunción. Facultad de Ingeniería |
| dc.creator.none.fl_str_mv | Arzamendia López, Mario Eduardo |
| dc.date.accessioned.none.fl_str_mv | 2022-04-25T01:34:04Z |
| dc.date.available.none.fl_str_mv | 2022-04-25T01:34:04Z |
| dc.date.issued.none.fl_str_mv | 2018-12 |
| dc.identifier.uri.none.fl_str_mv | http://hdl.handle.net/20.500.14066/3540 |
| dc.language.iso.es.fl_str_mv | eng |
| dc.publisher.en.fl_str_mv | University of Seville. Higher Technical School of Engineering. Department of Electronic Engineering |
| dc.relation.projectCONACYT.es.fl_str_mv | PINV15-177 |
| dc.rights.*.fl_str_mv | Atribución-NoComercial-CompartirIgual 4.0 Internacional |
| dc.rights.accessRights.en.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.rights.copyright.es.fl_str_mv | © 2018 Mario Eduardo Arzamendia López |
| dc.rights.uri.*.fl_str_mv | http://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.subject.classification.es.fl_str_mv | 2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminación |
| dc.subject.ocde.es.fl_str_mv | 1.4. Ciencias de la tierra y ciencias relacionadas con el medio ambiente (geología, geofísica, mineralogía, geografía física y otras ciencias de la tierra, meteorología y otras ciencias de la atmósfera incluyendo la investigación climática, oceanografía, vulcanología, paleoecología, otras ciencias afines) |
| dc.subject.other.en.fl_str_mv | Bathymetry Freshwater pollution Water pollution Water resources Autonomous surface vehicles Environmental monitoring |
| dc.subject.other.es.fl_str_mv | Batimetría Contaminación de las aguas dulces Polución del agua Recursos hídricos Vehículos de superficie no tripulados Vigilancia ambiental |
| dc.title.es.fl_str_mv | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| dc.type.es.fl_str_mv | info:eu-repo/semantics/doctoralThesis |
| description | Autonomous Surface Vehicles (ASVs) have found a lot of promising applications in aquatic environments, i.e., sea, lakes, rivers, etc. They can be used for applications of paramount importance, such as environmental monitoring of water resources, and for bathymetry to study the characteristics of the basing of a lake/sea or for surveillance in patrol missions, among others. These vehicles can be built with smaller dimensions when compared to regular ships since they do not need an on-board crew for operation. However, they do require at least a telemetry control as well as certain intelligence for making decisions and responding to changing scenarios. The first contribution of this thesis is the modeling of the CPP using Hamiltonian Circuits (HCs) and Eulerian Circuits (ECs). Therefore, a graph adapted to the Ypacarai Lake is created by using a network of wireless beacons located at the shore of the lake, so that they can be used as data exchange points between a control center and the ASV, and also as waypoints. Regarding the proposed modeling, HCs and ECs are paths that begin and end at the same point. Therefore, the ASV travels across a given graph that is defined by a set of wireless beacons. The main difference between HC and EC is that a HC is a tour that visits each vertex only once while EC visits each edge only once. The second contribution of this work is the development of an online learning strategy using the same model but considering dynamic contamination events in the Lake. Dynamic events mean the appearance and evolution of an algae bloom, which is a strong indicator of the degradation of the lake. The strategy is divided into two-phases, the initial exploration phase to discover the presence of the algae bloom and next the intensification phase to focus on the region where the contamination event is detected. This intensification effect is achieved by modifying the beacon-based graph, reducing the number of vertices and selecting those that are closer to the region of interest. The simulation results reveal that the proposed strategy detects two events and monitors them, keeping a high level of coverage while minimizing the distance traveled by the ASV. The proposed scheme is a reactive path planning that adapts to the environmental conditions. This scheme makes decisions in an autonomous way and it switches from the exploratory phase to the intensification phase depending on the external conditions, leading to a variable granularity in the monitoring task. Therefore, there is a balance between coverage and the energy consumed by the ASV. The main benefits obtained from the second contribution includes a better monitoring in the quality of water and control of waste dumping, and the possibility to predict the appearance of algae-bloom from the collected environmental data. |
| eu_rights_str_mv | openAccess |
| format | doctoralThesis |
| id | CONACYT_29aa4d61bd22e5e707aba68cdfa2909c |
| language | eng |
| network_acronym_str | CONACYT |
| network_name_str | Repositorio Institucional CONACYT |
| oai_identifier_str | oai:repositorio.conacyt.gov.py:20.500.14066/3540 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| repository.mail.fl_str_mv | repositorio.institucional@conacyt.gov.py |
| repository.name.fl_str_mv | Repositorio Institucional CONACYT |
| repository_id_str | |
| rights_invalid_str_mv | Atribución-NoComercial-CompartirIgual 4.0 Internacional http://creativecommons.org/licenses/by-nc-sa/4.0/ © 2018 Mario Eduardo Arzamendia López |
| spelling | Toral Marin, Sergiob17fa790-3196-4bde-bb9e-bc2ec330e66e600Gutierrez Reina, Daniel6983111e-47b1-4d63-a539-d013611b5ca2500Gregor Recalde, Derlis Orlando570600100600Universidad Nacional de Asunción. Facultad de Ingeniería2022-04-25T01:34:04Z2022-04-25T01:34:04Z2018-12http://hdl.handle.net/20.500.14066/3540Autonomous Surface Vehicles (ASVs) have found a lot of promising applications in aquatic environments, i.e., sea, lakes, rivers, etc. They can be used for applications of paramount importance, such as environmental monitoring of water resources, and for bathymetry to study the characteristics of the basing of a lake/sea or for surveillance in patrol missions, among others. These vehicles can be built with smaller dimensions when compared to regular ships since they do not need an on-board crew for operation. However, they do require at least a telemetry control as well as certain intelligence for making decisions and responding to changing scenarios. The first contribution of this thesis is the modeling of the CPP using Hamiltonian Circuits (HCs) and Eulerian Circuits (ECs). Therefore, a graph adapted to the Ypacarai Lake is created by using a network of wireless beacons located at the shore of the lake, so that they can be used as data exchange points between a control center and the ASV, and also as waypoints. Regarding the proposed modeling, HCs and ECs are paths that begin and end at the same point. Therefore, the ASV travels across a given graph that is defined by a set of wireless beacons. The main difference between HC and EC is that a HC is a tour that visits each vertex only once while EC visits each edge only once. The second contribution of this work is the development of an online learning strategy using the same model but considering dynamic contamination events in the Lake. Dynamic events mean the appearance and evolution of an algae bloom, which is a strong indicator of the degradation of the lake. The strategy is divided into two-phases, the initial exploration phase to discover the presence of the algae bloom and next the intensification phase to focus on the region where the contamination event is detected. This intensification effect is achieved by modifying the beacon-based graph, reducing the number of vertices and selecting those that are closer to the region of interest. The simulation results reveal that the proposed strategy detects two events and monitors them, keeping a high level of coverage while minimizing the distance traveled by the ASV. The proposed scheme is a reactive path planning that adapts to the environmental conditions. This scheme makes decisions in an autonomous way and it switches from the exploratory phase to the intensification phase depending on the external conditions, leading to a variable granularity in the monitoring task. Therefore, there is a balance between coverage and the energy consumed by the ASV. The main benefits obtained from the second contribution includes a better monitoring in the quality of water and control of waste dumping, and the possibility to predict the appearance of algae-bloom from the collected environmental data.Consejo Nacional de Ciencia y TecnologíaPrograma Paraguayo para el Desarrollo de la Ciencia y Tecnología. Proyectos de investigación y desarrolloengUniversity of Seville. Higher Technical School of Engineering. Department of Electronic EngineeringAtribución-NoComercial-CompartirIgual 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-sa/4.0/info:eu-repo/semantics/openAccess© 2018 Mario Eduardo Arzamendia López2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminaciónBatimetríaContaminación de las aguas dulcesPolución del aguaRecursos hídricosVehículos de superficie no tripuladosVigilancia ambientalBathymetryFreshwater pollutionWater pollutionWater resourcesAutonomous surface vehiclesEnvironmental monitoring1.4. Ciencias de la tierra y ciencias relacionadas con el medio ambiente (geología, geofísica, mineralogía, geografía física y otras ciencias de la tierra, meteorología y otras ciencias de la atmósfera incluyendo la investigación climática, oceanografía, vulcanología, paleoecología, otras ciencias afines)Reactive evolutionary path planning for autonomous surface vehicles in lake environmentsinfo:eu-repo/semantics/doctoralThesis299PINV15-177Arzamendia López, Mario EduardoAutomatic, Electronic and Telecommunication EngineeringUniversity of Seville. Higher Technical School of Engineering. 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| spellingShingle | Reactive evolutionary path planning for autonomous surface vehicles in lake environments Arzamendia López, Mario Eduardo 2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminación Batimetría Contaminación de las aguas dulces Polución del agua Recursos hídricos Vehículos de superficie no tripulados Vigilancia ambiental Bathymetry Freshwater pollution Water pollution Water resources Autonomous surface vehicles Environmental monitoring 1.4. Ciencias de la tierra y ciencias relacionadas con el medio ambiente (geología, geofísica, mineralogía, geografía física y otras ciencias de la tierra, meteorología y otras ciencias de la atmósfera incluyendo la investigación climática, oceanografía, vulcanología, paleoecología, otras ciencias afines) |
| title | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| title_full | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| title_fullStr | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| title_full_unstemmed | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| title_short | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| title_sort | Reactive evolutionary path planning for autonomous surface vehicles in lake environments |
| topic | 2.2. Desarrollo de instalaciones de seguimiento para la medición de todo tipo de contaminación Batimetría Contaminación de las aguas dulces Polución del agua Recursos hídricos Vehículos de superficie no tripulados Vigilancia ambiental Bathymetry Freshwater pollution Water pollution Water resources Autonomous surface vehicles Environmental monitoring 1.4. Ciencias de la tierra y ciencias relacionadas con el medio ambiente (geología, geofísica, mineralogía, geografía física y otras ciencias de la tierra, meteorología y otras ciencias de la atmósfera incluyendo la investigación climática, oceanografía, vulcanología, paleoecología, otras ciencias afines) |
| url | http://hdl.handle.net/20.500.14066/3540 |