Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints
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...
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| Format: | Article |
| Language: | English |
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Wiley
2012-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2012/542124 |
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| author | M. L. Seto |
| author_facet | M. L. Seto |
| author_sort | M. L. Seto |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-317f3b30583a41d39929c5e1182f78d4 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2012-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-317f3b30583a41d39929c5e1182f78d42025-02-03T01:01:11ZengWileyJournal of Robotics1687-96001687-96192012-01-01201210.1155/2012/542124542124Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy ConstraintsM. L. Seto0Defence R&D Canada, Dartmouth, Nova Scotia, B2Y 3Z7, CanadaThe 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.http://dx.doi.org/10.1155/2012/542124 |
| spellingShingle | M. L. Seto Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints Journal of Robotics |
| title | Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints |
| title_full | Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints |
| title_fullStr | Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints |
| title_full_unstemmed | Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints |
| title_short | Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints |
| title_sort | application of on board evolutionary algorithms to underwater robots to optimally replan missions with energy constraints |
| url | http://dx.doi.org/10.1155/2012/542124 |
| work_keys_str_mv | AT mlseto applicationofonboardevolutionaryalgorithmstounderwaterrobotstooptimallyreplanmissionswithenergyconstraints |