Multi-Strategy Spatial Data Acquisition Missions Using Genetic Algorithms

Monitoring of biological and chemical pollutants in large bodies of water requires the acquisition of a large number of in-situ measurement by a mobile sensor platform. Critical to this problem is an efficient path planning method, easily adaptable to different control strategies that ensure the collection of data of the greatest value. This paper proposes a hybrid Genetic Algorithm (GA) based deliberative path planning algorithm using waypoints for a ship navigation trajectory. The algorithm combines many sampling strategies for navigation and collection of samples from different water pollutant classes to fit a suitable objective function. Multi point crossover is employed to produce a global path consisting of good samples segments from many strategies paths. The system has been developed and tested for inland water monitoring and planning the ship trajectory using moderate resolution satellite data. (C) 2015, IFAC (International Federation or Automatic Control) Hosting by Elsevier Ltd. All rights reserved.