An Efficient Hybrid Route-Path Planning Model For Dynamic Task Allocation and Safe Maneuvering of an Underwater Vehicle in a Realistic Environment

Abstract

This paper presents a hybrid route-path planning model for an Autonomous Underwater Vehicle's task assignment and management while the AUV is operating through the variable littoral waters. Several prioritized tasks distributed in a large scale terrain is defined first; then, considering the limitations over the mission time, vehicle's battery, uncertainty and variability of the underlying operating field, appropriate mission timing and energy management is undertaken. The proposed objective is fulfilled by incorporating a route-planner that is in charge of prioritizing the list of available tasks according to available battery and a path-planer that acts in a smaller scale to provide vehicle's safe deployment against environmental sudden changes. The synchronous process of the task assign-route and path planning is simulated using a specific composition of Differential Evolution and Firefly Optimization (DEFO) Algorithms. The simulation results indicate that the proposed hybrid model offers efficient performance in terms of completion of maximum number of assigned tasks while perfectly expending the minimum energy, provided by using the favorable current flow, and controlling the associated mission time. The Monte-Carlo test is also performed for further analysis. The corresponding results show the significant robustness of the model against uncertainties of the operating field and variations of mission conditions.

References in corpus (5)

• Differential Evolution for Efficient AUV Path Planning in Time Variant Uncertain Underwater Environment
• AUV Rendezvous Online Path Planning in a Highly Cluttered Undersea Environment Using Evolutionary Algorithms
• Toward Efficient Task Assignment and Motion Planning for Large Scale Underwater Mission
• A Novel Efficient Task-Assign Route Planning Method for AUV Guidance in a Dynamic Cluttered Environment
• Optimal Route Planning with Prioritized Task Scheduling for AUV Missions

Cited by in corpus (3)

• UUV's Hierarchical DE-based Motion Planning in a Semi Dynamic Underwater Wireless Sensor Network
• A Hierarchal Planning Framework for AUV Mission Management in a Spatio-Temporal Varying Ocean
• An Autonomous Reactive Architecture for Efficient AUV Mission Time Management in Realistic Severe Ocean Environment