Deakin University
Browse

File(s) under permanent embargo

UUV's hierarchical DE-based motion planning in a semi dynamic underwater wireless sensor network

journal contribution
posted on 2019-08-01, 00:00 authored by Somaiyeh MahmoudZadehSomaiyeh MahmoudZadeh, David M W Powers, Adham Atyabi
This paper describes a reflexive multilayered mission planner with a mounted energy efficient local path planner for unmanned underwater vehicle's (UUV) navigation throughout complex subsea volume in a time variant semi-dynamic operation network. The UUV routing protocol in underwater wireless sensor network is generalized with a homogeneous dynamic knapsack-traveler salesman problem emerging with an adaptive path planning mechanism to address UUV's long-duration missions on dynamically changing subsea volume. The framework includes a base layer of global path planning, an inner layer of local path planning and an environmental sublayer. Such a multilayer integrated structure facilitates the framework to adopt any algorithm with real-time performance. The evolutionary technique known as differential evolution (DE) algorithm is employed by both base and inner layers to examine the performance of the framework in efficient mission timing and its resilience against the environmental disturbances. Relying on reactive nature of the framework and fast computational performance of the DE algorithm, the simulations show promising results and this new framework guarantees a safe and efficient deployment in a turbulent uncertain marine environment passing through a proper sequence of stations considering various constraint in a complex environment.

History

Journal

IEEE transactions on cybernetics

Volume

49

Issue

8

Pagination

2992 - 3005

Publisher

Institute of Electrical and Electronics Engineers

Location

Piscataway, N.J.

eISSN

2168-2275

Language

eng

Publication classification

C1.1 Refereed article in a scholarly journal

Copyright notice

2018, IEEE