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Toward Efficient Task Assignment and Motion Planning for Large Scale Underwater Mission

arXiv.org Artificial Intelligence

An Autonomous Underwater Vehicle (AUV) needs to acquire a certain degree of autonomy for any particular underwater mission to fulfill the mission objectives successfully and ensure its safety in all stages of the mission in a large scale operating filed. In this paper, a novel combinatorial conflict-free-task assignment strategy consisting an interactive engagement of a local path planner and an adaptive global route planner, is introduced. The method is established upon the heuristic search potency of the Particle Swarm Optimisation (PSO) algorithm to address the discrete nature of routing-task assignment approach and the complexity of NP-hard path planning problem. The proposed hybrid method is highly efficient for having a reactive guidance framework that guarantees successful completion of missions specifically in cluttered environments. To examine the performance of the method in a context of mission productivity, mission time management and vehicle safety, a series of simulation studies are undertaken. The results of simulations declare that the proposed method is reliable and robust, particularly in dealing with uncertainties, and it can significantly enhance the level of vehicle's autonomy by relying on its reactive nature and capability of providing fast feasible solutions.


Autonomy and Unmanned Vehicles Augmented Reactive Mission-Motion Planning Architecture for Autonomous Vehicles

arXiv.org Artificial Intelligence

Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in complex missions where continuous trans-formation in environmental condition calls for a higher level of situational responsiveness and autonomous decision making. This book is a research monograph that aims to provide a comprehensive survey of UVs autonomy and its related properties in internal and external situation awareness to-ward robust mission planning in severe conditions. An advance level of intelligence is essential to minimize the reliance on the human supervisor, which is a main concept of autonomy. A self-controlled system needs a robust mission management strategy to push the boundaries towards autonomous structures, and the UV should be aware of its internal state and capabilities to assess whether current mission goal is achievable or find an alternative solution. In this book, the AUVs will become the major case study thread but other cases/types of vehicle will also be considered. In-deed the research monograph, the review chapters and the new approaches we have developed would be appropriate for use as a reference in upper years or postgraduate degrees for its coverage of literature and algorithms relating to Robot/Vehicle planning, tasking, routing, and trust.


Current Advancements on Autonomous Mission Planning and Management Systems: an AUV and UAV perspective

arXiv.org Artificial Intelligence

Analyzing encircling situation is the most crucial part of autonomous adaptation. Since there are many unknown and constantly changing factors in the real environment, momentary adjustment to the consistently alternating circumstances is highly required for addressing autonomy. To respond properly to changing environment, an utterly self-ruling vehicle ought to have the capacity to realize/comprehend its particular position and the surrounding environment. However, these vehicles extremely rely on human involvement to resolve entangled missions that cannot be precisely characterized in advance, which restricts their applications and accuracy. Reducing dependence on human supervision can be achieved by improving level of autonomy. Over the previous decades, autonomy and mission planning have been extensively researched on different structures and diverse conditions; nevertheless, aiming at robust mission planning in extreme conditions, here we provide exhaustive study of UVs autonomy as well as its related properties in internal and external situation awareness. In the following discussion, different difficulties in the scope of AUVs and UAVs will be discussed.


Optimal Route Planning with Prioritized Task Scheduling for AUV Missions

arXiv.org Artificial Intelligence

This paper presents a solution to Autonomous Underwater Vehicles (AUVs) large scale route planning and task assignment joint problem. Given a set of constraints (e.g., time) and a set of task priority values, the goal is to find the optimal route for underwater mission that maximizes the sum of the priorities and minimizes the total risk percentage while meeting the given constraints. Making use of the heuristic nature of genetic and swarm intelligence algorithms in solving NP-hard graph problems, Particle Swarm Optimization (PSO) and Genetic Algorithm (GA) are employed to find the optimum solution, where each individual in the population is a candidate solution (route). To evaluate the robustness of the proposed methods, the performance of the all PS and GA algorithms are examined and compared for a number of Monte Carlo runs. Simulation results suggest that the routes generated by both algorithms are feasible and reliable enough, and applicable for underwater motion planning. However, the GA-based route planner produces superior results comparing to the results obtained from the PSO based route planner.


T$^{\star}$-Lite: A Fast Time-Risk Optimal Motion Planning Algorithm for Multi-Speed Autonomous Vehicles

arXiv.org Artificial Intelligence

In this paper, we develop a new algorithm, called T$^{\star}$-Lite, that enables fast time-risk optimal motion planning for variable-speed autonomous vehicles. The T$^{\star}$-Lite algorithm is a significantly faster version of the previously developed T$^{\star}$ algorithm. T$^{\star}$-Lite uses the novel time-risk cost function of T$^{\star}$; however, instead of a grid-based approach, it uses an asymptotically optimal sampling-based motion planner. Furthermore, it utilizes the recently developed Generalized Multi-speed Dubins Motion-model (GMDM) for sample-to-sample kinodynamic motion planning. The sample-based approach and GMDM significantly reduce the computational burden of T$^{\star}$ while providing reasonable solution quality. The sample points are drawn from a four-dimensional configuration space consisting of two position coordinates plus vehicle heading and speed. Specifically, T$^{\star}$-Lite enables the motion planner to select the vehicle speed and direction based on its proximity to the obstacle to generate faster and safer paths. In this paper, T$^{\star}$-Lite is developed using the RRT$^{\star}$ motion planner, but adaptation to other motion planners is straightforward and depends on the needs of the planner