Research On Mission Planning For AUV

Autonomous Underwater Vehicle (AUV), which can complete various underwater tasks in the non-structured and uncertain ocean environment, benefits from the mission planning. Mission planning can give not only the effective order according to the mission assigned, but also react to the uncertain occurred in the mission process, monitor the mission implementation in real-time. Mission planning marks the level of vehicle to some extent and is the key assemble of the vehicle to planning and decision-making. This paper studies systematically the mission planning of AUV in a large sea environment.First of all, the paper clarifies several related research questions, and describes the goal of the research, which is to ensure the task successfully implemented and do the mission planning from the view of supervision and management. Different from general planning, this paper lays stress on the analysis of the whole process of the mission, treats mission planning as a supervision and control mechanism which can give the order and deal with uncertain events.The good architecture of AUV is a foundation to make sure the system efficiency and the work reasonable. The planning system's position and function are the principal considerations. Therefore, according to the demands, this paper gives an architecture which can handle the mission planning.Considering the particularity of the task environment, this paper lays stress on the analysis of the uncertain questions in the process of mission planning. Using some related methods in AI planning, the paper describes the uncertain events in detail, and these lay the foundation of future work.The single task modeling loses its availability when the number of the task increases. The paper makes a research on the execution of the combination of main task, gives the modeling for the task to the performance of the uncertain events and the simulation and analysis. This paper provides some method of re-planning, give a simple planner to the mission combination and setting a kind of mission description language (format), to let the following executive model unscramble it and guiding the mission execution.The analysis of the uncertain events, the modeling and simulation of mission planning process show that, mission planning technology is able to deal with various unexpected events effectively in the mission combination, enhance the reliability and safety in the process of mission planning, and direct AUV to complete various given underwater missions.