An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle

Dai, Yu; Xue, Cong; Qiao, Shan

doi:10.3390/jmse9030249

Cited by 21 publications

(10 citation statements)

References 30 publications

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“…Putting aside the sealing and compression problems caused by water depth [79], from the perspective of sediments, the shallow surface sediments are very weak in the occurrence areas of deep-sea polymetallic nodules. They cannot provide a high bearing capacity, nor sufficient shear resistance for the advance of mining trucks [80,81]. In addition, the existence of nodules on the seabed surface adds a lot of uncertainty to sediment properties [81], which requires engineers to consider further problems.…”

Section: Mining Methodsmentioning

confidence: 99%

Effects of Migration and Diffusion of Suspended Sediments on the Seabed Environment during Exploitation of Deep-Sea Polymetallic Nodules

Fan

Jia

Chu

et al. 2022

Water

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With the increase in demand for metal resources, research on deep-sea polymetallic nodule mining has been reinvigorated, but the problem of its environmental impact cannot be ignored. No matter what method is used for mining, it will disturb the surface sediments of the seabed, thereby increasing the concentration of suspended solid particles and metal ions in the water body, changing the properties of the near-bottom water body and sediments, and affecting biological activity and the living environment. Focusing on the ecological and environmental impacts of deep-sea polymetallic nodule mining, taking as our main subject of focus the dynamic changes in sediments, we investigated the environmental impacts of nodule mining and their relationships with each other. On this basis, certain understandings are summarized relating to the ecological and environmental impacts of deep-sea polymetallic nodule mining, based on changes in the engineering geological properties of sediment, and solutions for current research problems are proposed.

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Section: Mining Methodsmentioning

confidence: 99%

Effects of Migration and Diffusion of Suspended Sediments on the Seabed Environment during Exploitation of Deep-Sea Polymetallic Nodules

Fan

Jia

Chu

et al. 2022

Water

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“…Therefore, studying the sinkage mechanism of deep-sea sediment, and establishing the corresponding pressure-sinkage constitutive model, are of great significance for the analysis of the shear strength and traction force of the subsea mining vehicles, the prediction of the driving resistance, and the establishment of design guidelines. However, due to the difficulty in obtaining the deep-sea sediment in situ owing to the extreme environment and high cost, a reasonable simulated soil is widely used as an experimental sediment for studying the mechanical properties of deep-sea sediment and subsea mining vehicles [13][14][15]. To-date, many constitutive models have been proposed and applied to study the pressure-sinkage behaviors of deep-sea sediment, which can be divided into several categories, including empirical models, component models, fractional-order derivative models, and so on [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Study on the Pressure–Sinkage Process and Constitutive Model of Deep-Sea Sediment

Wei

Cao

Xia

2022

JMSE

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The driving performance of subsea mining vehicles is greatly affected by the pressure–sinkage characteristics of deep-sea sediment. Therefore, it is of great importance to analyze the microscopic properties of deep-sea sediment and establish the corresponding pressure–sinkage model for the safe operation of subsea mining vehicles. Hence, the present paper focuses on the physical properties of deep-sea sediment to provide a preliminary understanding of its pressure–sinkage process and evolution according to the solid–liquid two-phase flow characteristics and particle flow mechanism. In addition, the stress loading time and the rheological theory are applied in order to introduce a four-element model that describes the various pressure–sinkage stages that correspond to each stage of deep-sea sediment evolution. On this basis, the parameters of the pressure–sinkage constitutive model are determined by a specific calculation method. Moreover, a new pressure–sinkage constitutive model of deep-sea sediment that considers the time-variable mechanical properties is established in order to describe the full sinkage process. Finally, research results from the existing literature and experimental data are used to verify the rationality and correctness of the model. The results show that the proposed pressure–sinkage constitutive model is in good agreement with experimental data and is effective in describing the evolution of the mechanical properties and the trend in the sinkage rate of deep-sea sediment at various stages. A comparison with the Kelvin model indicates that the proposed pressure–sinkage constitutive model provides superior accuracy with the use of fewer parameters. Consequently, this study can provide a theoretical basis and technical support for the design of subsea mining vehicles.

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“…Autonomous ships represented by USVs have received key attention and investment in research and development from maritime powers for their unique advantages [4][5][6][7]. Current main research on USV technology includes path planning and decision-making [8,9], navigation and positioning [10], motion control [11][12][13], intelligent perception [14] etc. in which the path planning problem needs to be solved in the autonomous navigation and mission planning of USV.…”

Section: Introductionmentioning

confidence: 99%

A Dynamic Obstacle Avoidance Method for Unmanned Surface Vehicle under the International Regulations for Preventing Collisions at Sea

Gao

Zhou

Shi

et al. 2022

JMSE

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A new method is proposed for the dynamic obstacle avoidance problem of unmanned surface vehicles (USVs) under the international regulations for preventing collisions at sea (COLREGs), which applies the particle swarm optimization algorithm (PSO) to the dynamic window approach (DWA) to reduce the optimal trajectory finding the time and improve the timeliness of obstacle avoidance. Meanwhile, a fuzzy control algorithm is designed to dynamically adjust the weight coefficients of the velocity and obstacle distance terms in the cost function of the DWA algorithm to adapt to the changes in the environment. The proposed dynamic obstacle avoidance method is experimentally validated, in which proposed PSO combined with the DWA algorithm (PSO-CCDWA) results in a 42.1%, 11.2% and 28.0% reduction in the navigation time of the USVs in three encounter-situations of COLREGs than that of the classical DWA algorithm (CCDWA) conforming to the conventional COLREGs, respectively. The fuzzy control combined with the DWA algorithm (FUZZY-CCDWA) reduces the distance traveled by 15.8%, 0.9% and 2.8%, respectively, over the CCDWA algorithm in the three encounter scenarios. Finally, the effectiveness of the proposed dynamic obstacle avoidance method is further verified in a practical navigation experiment of a USV named “Buffalo”.

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An Integrated Dynamic Model and Optimized Fuzzy Controller for Path Tracking of Deep-Sea Mining Vehicle

Cited by 21 publications

References 30 publications

Effects of Migration and Diffusion of Suspended Sediments on the Seabed Environment during Exploitation of Deep-Sea Polymetallic Nodules

Effects of Migration and Diffusion of Suspended Sediments on the Seabed Environment during Exploitation of Deep-Sea Polymetallic Nodules

Study on the Pressure–Sinkage Process and Constitutive Model of Deep-Sea Sediment

A Dynamic Obstacle Avoidance Method for Unmanned Surface Vehicle under the International Regulations for Preventing Collisions at Sea

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