Abstract
This article develops a novel mission-motion planner for unmanned underwater vehicles (UUVs) when dispatching them to visit a set of marine stations in a vast and time-varying environment. Specifically, a tri-level optimization model is built for the planner to finish the task with less energy cost. The lower-level is a motion planner, which provides safe and efficient paths with local environmental information. The middle-level is a mission planner, which designs a balanced station allocation mode as well as economical visitation sequences for each UUV concerning global information. The upper-level is a commander, which manages and synchronizes the two levels, so that UUVs can autonomously decide the next destination and corresponding paths in real-time. Thereafter, different heuristic algorithms are chosen according to each level property, and their initialization processes are modified to solve the optimization efficiently. Finally, the proposed model and algorithms present their outstanding performance in complex and large-scale cases.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Intelligent Transportation Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
