Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints
Author
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-04-10
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The objective is to show that on-board mission replanning for an AUV sensor coverage mission, based on available energy, enhances mission success.
Autonomous underwater vehicles (AUVs) are tasked to increasingly long deployments, consequently energy management issues are timely and relevant.
Energy shortages can occur if the AUV unexpectedly travels against stronger currents, is not trimmed for the local water salinity has to get back on course, and so forth.
An on-board knowledge-based agent, based on a genetic algorithm, was designed and validated to replan a near-optimal AUV survey mission.
It considers the measured AUV energy consumption, attitudes, speed over ground, and known response to proposed missions through on-line dynamics and control predictions.
For the case studied, the replanned mission improves the survey area coverage by a factor of 2 for an energy budget, that is, a factor of 2 less than planned.
The contribution is a novel on-board cognitive capability in the form of an agent that monitors the energy and intelligently replans missions based on energy considerations with evolutionary methods.
American Psychological Association (APA)
Seto, M. L.. 2012. Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints. Journal of Robotics،Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-480079
Modern Language Association (MLA)
Seto, M. L.. Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints. Journal of Robotics No. 2012 (2012), pp.1-10.
https://search.emarefa.net/detail/BIM-480079
American Medical Association (AMA)
Seto, M. L.. Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-10.
https://search.emarefa.net/detail/BIM-480079
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-480079