This paper presents the first attempt at formulating the autonomous underwater vehicles (AUVs) adaptive sampling problem considering a spatiotemporal ocean environment and energy constraints. A path re-planning system that applies fuzzy logic in decision-making is then proposed to increase the sampling efficiency and reduce power consumption to complete the mission. The goal of adaptive sampling is to plan the trajectories of gliders or AUVs to collect ocean measurements located in areas most relevant to the phenomena under investigation. However, in an actual marine environment, common conditions exist under which AUVs need to adjust their routes as the phenomena change over time. These conditions also require the monitoring of AUV energy consumption under the effect of currents that vary in space and time. This two-objective optimization problem is solved using the multi-objective particle swarm optimization algorithm to produce a set of solutions. A new fuzzy comprehensive evaluation (FCE) method, based on decision-making using fuzzy logic, is then applied to select the optimum route from the solutions by adapting and regenerating trajectories according to the ocean forecast system, analysing different scenarios, and including constraints of the total operational time and energy restrictions. Several Monte Carlo simulations are conducted to evaluate the performance and robustness of strategies determined via FCE for various scenarios.