A novel versatile architecture for autonomous underwater vehicle's motion planning and task assignment

Somaiyeh Mahmoud Zadeh; David M. W. Powers; Karl Sammut; Amir Mehdi Yazdani

doi:10.1007/s00500-016-2433-2

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A novel versatile architecture for autonomous underwater vehicle's motion planning and task assignment

Journal article

Peer reviewed

A novel versatile architecture for autonomous underwater vehicle's motion planning and task assignment

Somaiyeh Mahmoud Zadeh, David M. W. Powers, Karl Sammut and Amir Mehdi Yazdani

Soft computing (Berlin, Germany), Vol.22(5), pp.1687-1710

2018

DOI: https://doi.org/10.1007/s00500-016-2433-2

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Abstract

Autonomous underwater vehicles

Autonomy

Decision making

Motion planning

Task assignment

Time management

Mission management

Expansion of today's underwater scenarios and missions necessitates the requisition for robust decision making of the autonomous underwater vehicle (AUV); hence, design an efficient decision-making framework is essential for maximizing the mission productivity in a restricted time. This paper focuses on developing a deliberative conflict-free-task assignment architecture encompassing a global route planner (GRP) and a local path planner (LPP) to provide consistent motion planning encountering both environmental dynamic changes and a priori knowledge of the terrain, so that the AUV is reactively guided to the target of interest in the context of an uncertain underwater environment. The architecture involves three main modules: The GRP module at the top level deals with the task priority assignment, mission time management, and determination of a feasible route between start and destination point in a large-scale environment. The LPP module at the lower level deals with safety considerations and generates collision-free optimal trajectory between each specific pair of waypoints listed in obtained global route. Re-planning module tends to promote robustness and reactive ability of the AUV with respect to the environmental changes. The experimental results for different simulated missions demonstrate the inherent robustness and drastic efficiency of the proposed scheme in enhancement of the vehicles autonomy in terms of mission productivity, mission time management, and vehicle safety.

Details

Title: A novel versatile architecture for autonomous underwater vehicle's motion planning and task assignment
Authors/Creators: Somaiyeh Mahmoud Zadeh - Flinders University
David M. W. Powers - Flinders University
Karl Sammut - Flinders University
Amir Mehdi Yazdani - Flinders University
Publication Details: Soft computing (Berlin, Germany), Vol.22(5), pp.1687-1710
Publisher: Springer Nature
Number of pages: 24
Grant note: Flinders University Flinders International Postgraduate Research Scholarship (FIPRS) program, Flinders University of South Australia
Identifiers: 991005592639407891
Murdoch Affiliation: School of Engineering and Energy; Centre for Water, Energy and Waste
Language: English
Resource Type: Journal article

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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, Artificial Intelligence; Computer Science, Interdisciplinary Applications
ESI research areas: Computer Science