Plastic grabber: Underwater autonomous vehicle simulation for plastic objects retrieval using genetic programming
Paper in proceedings, 2019

We propose a path planning solution using genetic programming for an autonomous underwater vehicle. Developed in ROS Simulator that is able to roam in an environment, identify a plastic object, such as bottles, grab it and retrieve it to the home base. This involves the use of a multi-objective fitness function as well as reinforcement learning, both required for the genetic programming to assess the model’s behaviour. The fitness function includes not only the objective of grabbing the object but also the efficient use of stored energy. Sensors used by the robot include a depth image camera, claw and range sensors that are all simulated in ROS.

Genetic programming

Underwater autonomous vehicle

Plastic collector

Author

Gabriele Kasparaviciute

Chalmers, Technology Management and Economics, Entrepreneurship and Strategy, Entrepreneurship and Strategy

Stig Anton Nielsen

University of Copenhagen

Dhruv Boruah

thethamesproject.org

Alexandru Dancu

MIT Media Laboratory

Lecture Notes in Business Information Processing

1865-1348 (ISSN)

Vol. 339 527-533

21st International Conference on Business Information Systems, BIS 2018
Berlin, Germany,

Subject Categories

Robotics

Computer Science

Computer Vision and Robotics (Autonomous Systems)

DOI

10.1007/978-3-030-04849-5_46

More information

Latest update

8/20/2019