UUV's Hierarchical DE-Based Motion Planning in a Semi Dynamic Underwater Wireless Sensor Network

This paper describes a reflexive multilayered mission planner with a mounted energy efficient local path planner for unmanned underwater vehicle's (UUV) navigation throughout complex subsea volume in a time variant semi-dynamic operation network. The UUV routing protocol in underwater wireless...

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Vydané v:IEEE transactions on cybernetics Ročník 49; číslo 8; s. 2992 - 3005
Hlavní autori: Mahmoudzadeh, Somaiyeh, Powers, David M. W., Atyabi, Adham
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: United States IEEE 01.08.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Algorithms
Autonomous underwater vehicles
Computer simulation
Differential evolution (DE)
dynamic knapsack-traveler salesman problem
Dynamics
Evolutionary algorithms
Evolutionary computation
Marine environment
Missions
Motion planning
multilayered motion planner
Multilayers
Offshore structures
Path planning
Planning
Real-time systems
Remote sensors
Sensors
underwater wireless sensor network (UWSN)
unmanned underwater vehicle (UUV)
Vehicle dynamics
Wireless networks
Wireless sensor networks
ISSN:2168-2267, 2168-2275, 2168-2275
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Shrnutí:This paper describes a reflexive multilayered mission planner with a mounted energy efficient local path planner for unmanned underwater vehicle's (UUV) navigation throughout complex subsea volume in a time variant semi-dynamic operation network. The UUV routing protocol in underwater wireless sensor network is generalized with a homogeneous dynamic knapsack-traveler salesman problem emerging with an adaptive path planning mechanism to address UUV's long-duration missions on dynamically changing subsea volume. The framework includes a base layer of global path planning, an inner layer of local path planning and an environmental sublayer. Such a multilayer integrated structure facilitates the framework to adopt any algorithm with real-time performance. The evolutionary technique known as differential evolution (DE) algorithm is employed by both base and inner layers to examine the performance of the framework in efficient mission timing and its resilience against the environmental disturbances. Relying on reactive nature of the framework and fast computational performance of the DE algorithm, the simulations show promising results and this new framework guarantees a safe and efficient deployment in a turbulent uncertain marine environment passing through a proper sequence of stations considering various constraint in a complex environment.
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2018.2837134