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UUVs Hierarchical DE-based Motion Planning in a Semi Dynamic Underwater Wireless Sensor Network

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Document pages: 13 pages

Abstract: This paper describes a reflexive multilayered mission planner with a mountedenergy efficient local path planner for Unmanned Underwater Vehicle s (UUV)navigation throughout the complex subsea volume in a time-variant semi-dynamicoperation network. The UUV routing protocol in Underwater Wireless SensorNetwork (UNSW) is generalized with a homogeneous Dynamic Knapsack-TravelerSalesman Problem emerging with an adaptive path planning mechanism to addressUUV s long-duration missions on dynamically changing subsea volume. Theframework includes a base layer of global path planning, an inner layer oflocal path planning and an environmental sub-layer. Such a multilayerintegrated structure facilitates the framework to adopt any algorithm withreal-time performance. The evolutionary technique known as DifferentialEvolution algorithm is employed by both base and inner layers to examine theperformance of the framework in efficient mission timing and its resilienceagainst the environmental disturbances. Relying on reactive nature of theframework and fast computational performance of the DE algorithm, thesimulations show promising results and this new framework guarantees a safe andefficient deployment in a turbulent uncertain marine environment passingthrough a proper sequence of stations considering various constraint in acomplex environment.

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