Mission Planning in Terms of Task-Time Management and Routing

摘要: Nowadays underwater missions and scenarios have been expanded and this will bold out the demands for having more powerful decision making of the AUV; thus, increasing mission productivity and reliability, concerning time and resource restrictions, are the target of interest in this chapter as the crucial factors of designing an efficient decision-making framework. The problem of accurate mission planning and vehicles ability of task prioritizing in the restricted time that battery capacity allows, and its guidance toward a specific destination is considered as a combination of the DKP and TSP (dynamic knapsack and traveling salesman) problems, will be addressed by this research. Considering the operating terrain as a waypoint cluttered volume in which the points’ connections are assigned by specific tasks, the AUV should be able to fulfil a set of these tasks while taking graph routing restrictions into …