Hierarchical decision-making approach for the task planning of the BWBUG cluster with three-dimensional time-varying ocean currents

Abstract

This study concerns the task planning problem for a Blended-Wing-Body Underwater Glider (BWBUG) cluster with three-dimensional, time-varying ocean currents. The objective is to achieve task allocation and three-dimensional glide path planning for the BWBUG cluster in a manner that ensures safety and cost-effectiveness. First, the task planning problem for the BWBUG cluster is analyzed, detailing the task requirements and operational space. Next, a hierarchical decision-making approach is proposed, which comprises an upstream planner and a downstream planner. The upstream planner aims to determine a feasible task space for the BWBUG cluster while satisfying task constraints. The downstream planner fully considers the impact of ocean currents on BWBUG movement, as well as the safety and kinematic constraints of BWBUGs. It optimizes the three-dimensional movement trajectories of each BWBUG with the objective of minimizing energy consumption. Inspired by the nest-seeking behavior of bees, a novel heuristic algorithm called the Bee Nesting Optimization Algorithm (BNOA) is proposed to solve both upstream and downstream planning problems. The results of the simulations demonstrate the efficacy of the hierarchical decision-making approach developed in this study. Additionally, the proposed BNOA is highly competitive, offering reasonable task allocations and optimal three-dimensional glide paths for the BWBUG cluster.