A hierarchal planning framework for AUV mission management in a spatiotemporal varying ocean
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journal contribution
posted on 2024-06-05, 02:16 authored by Somaiyeh MahmoudZadehSomaiyeh MahmoudZadeh, D M.W Powers, K Sammut, A Atyabi, A Yazdani© 2018 Elsevier Ltd This paper provides a hierarchical dynamic mission planning framework for an AUV to accomplish task-assign process in a restricted time operating in uncertain undersea environment. A high-level reactive mission planner is developed for task priority assignment, guiding the vehicle toward a target of interest, and managing on-time mission completion. A low-level motion planner is also developed to handle unexpected changes of the dynamic terrain by re-generating optimal trajectories. The mission planner reactively re-arranges the tasks based on mission/terrain updates. As a result, the vehicle is able to undertake the maximum number of tasks with certain degree of maneuverability having situational awareness of the operating field. The Biogeography-Based Optimization (BBO) algorithm is used as the computational engine of the framework in both mission and motion planners. The simulations results indicate the significant potential of the proposed hierarchical framework in providing efficient solutions for mission success and its applicability for real-time implementation.
History
Journal
Computers and Electrical EngineeringVolume
67Pagination
741-760Location
Amsterdam, The NetherlandsPublisher DOI
ISSN
0045-7906eISSN
1879-0755Language
EnglishPublication classification
C Journal article, C1 Refereed article in a scholarly journalCopyright notice
2018, ElsevierPublisher
PERGAMON-ELSEVIER SCIENCE LTDUsage metrics
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Keywords
Science & TechnologyTechnologyComputer Science, Hardware & ArchitectureComputer Science, Interdisciplinary ApplicationsEngineering, Electrical & ElectronicComputer ScienceEngineeringMission planningAutonomous underwater vehicleSpatiotemporal oceanBiogeography-based optimizationMission timingSituational awareness4015 Maritime engineering
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