A hierarchal planning framework for AUV mission management in a spatiotemporal varying ocean

Somaiyeh MahmoudZadeh; David M. W. Powers; Karl Sammut; Adham Atyabi; Amirmehdi Yazdani

doi:10.1016/j.compeleceng.2017.12.035

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A hierarchal planning framework for AUV mission management in a spatiotemporal varying ocean

Journal article

Peer reviewed

A hierarchal planning framework for AUV mission management in a spatiotemporal varying ocean

Somaiyeh MahmoudZadeh, David M. W. Powers, Karl Sammut, Adham Atyabi and Amirmehdi Yazdani

Computers & electrical engineering, Vol.67, pp.741-760

2018

DOI: https://doi.org/10.1016/j.compeleceng.2017.12.035

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Abstract

Mission planning

Autonomous underwater vehicle

Spatiotemporal ocean

Biogeography-based optimization

Mission timing

Situational awareness

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.

Details

Title: A hierarchal planning framework for AUV mission management in a spatiotemporal varying ocean
Authors/Creators: Somaiyeh MahmoudZadeh - Flinders University
David M. W. Powers - Flinders University
Karl Sammut - Flinders University
Adham Atyabi - University of Washington, Seattle
Amirmehdi Yazdani - Flinders University
Publication Details: Computers & electrical engineering, Vol.67, pp.741-760
Publisher: Elsevier
Number of pages: 20
Identifiers: 991005560464607891
Murdoch Affiliation: School of Engineering and Energy; Centre for Water, Energy and Waste
Language: English
Resource Type: Journal article

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Collaboration types: Domestic collaboration; International collaboration
Citation topics: 4 Electrical Engineering, Electronics & Computer Science; 4.29 Automation & Control Systems; 4.29.435 Multi Agent Systems
Web Of Science research areas: Computer Science, Hardware & Architecture; Computer Science, Interdisciplinary Applications; Engineering, Electrical & Electronic
ESI research areas: Computer Science