Journal article
Toward efficient task assignment and motion planning for large-scale underwater missions
International journal of advanced robotic systems, Vol.13(5), pp.1-13
2016
Abstract
An autonomous underwater vehicle needs to possess a certain degree of autonomy for any particular underwater mission to fulfil the mission objectives successfully and ensure its safety in all stages of the mission in a large-scale operating field. In this article, a novel combinatorial conflict-free task assignment strategy, consisting of an interactive engagement of a local path planner and an adaptive global route planner, is introduced. The method takes advantage of the heuristic search potency of the particle swarm optimization algorithm to address the discrete nature of routing-task assignment approach and the complexity of nondeterministic polynomial-time-hard path planning problem. The proposed hybrid method is highly efficient as a consequence of its reactive guidance framework that guarantees successful completion of missions particularly in cluttered environments. To examine the performance of the method in a context of mission productivity, mission time management, and vehicle safety, a series of simulation studies are undertaken. The results of simulations declare that the proposed method is reliable and robust, particularly in dealing with uncertainties, and it can significantly enhance the level of a vehicle's autonomy by relying on its reactive nature and capability of providing fast feasible solutions.
Details
- Title
- Toward efficient task assignment and motion planning for large-scale underwater missions
- Authors/Creators
- Somaiyeh MahmoudZadeh - Flinders UniversityDavid M. W. Powers - Flinders UniversityKarl Sammut - Flinders UniversityAmirmehdi Yazdani - Flinders University
- Publication Details
- International journal of advanced robotic systems, Vol.13(5), pp.1-13
- Publisher
- Sage
- Number of pages
- 13
- Identifiers
- 991005560369007891
- Copyright
- © The Author(s) 2016
- Murdoch Affiliation
- 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
- Robotics
- ESI research areas
- Engineering