Conference paper
AUVs' Distributed Mission Planning System for Effective Underwater Chlorophyll Sampling
2nd International Conference on Unmanned Vehicle Systems-Oman (UVS) (Muscat, Oman, 12/02/2024–14/02/2024)
02/2024
Abstract
This paper presents a distributed mission planning system that enables a team of autonomous underwater vehicles (AUVs) for effective underwater chlorophyll sampling. The proposed system is developed based on a distributed algorithm that optimizes the real-time task allocation and mission planning of AUVs in a cooperative fashion while considering environmental and vehicular constraints to ensure efficient and coordinated sampling efforts. A realistic case study of a chlorophyll sampling mission in Australia's Great Barrier is utilized to investigate the performance of the proposed system in a restricted mission time and in the exposure to the uncertainty of the mission. Simulation studies confirm the effectiveness and resilience of the proposed system and showcase its potential as a valuable tool for advancing underwater chlorophyll sampling missions.
Details
- Title
- AUVs' Distributed Mission Planning System for Effective Underwater Chlorophyll Sampling
- Authors/Creators
- Somaiyeh MahmoudZadeh - Deakin UniversityAmirmehdi Yazdani - Murdoch University, Centre for Water, Energy and WasteYashar KalantariBekir Ciftler
- Conference
- 2nd International Conference on Unmanned Vehicle Systems-Oman (UVS) (Muscat, Oman, 12/02/2024–14/02/2024)
- Identifiers
- 991005654363807891
- Copyright
- © 2024 IEEE
- Murdoch Affiliation
- School of Engineering and Energy; Murdoch University; Centre for Water, Energy and Waste
- Resource Type
- Conference paper
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