Research On Mission Planning And Re-planning For AUV

Autonomous Underwater Vehicle (AUV) is an intelligent underwater equipment, whichhas some autonomy and can do some difficult and high-risk tasks that humans can’t do underthe specific environment and task information. With the development of ocean and thespreading of AUV applications, the complexity and unpredictable of ocean environment,motion effect and state information as well as the acoustic communication restriction onhuman-computer real time intervention raise a higher demand to AUV. This thesis focuses onthe background of AUV, studies some core theories and methods to improve the autonomyadaptability, the incident response and the own security ability of AUV under the complexocean environment and changeable task situation. The main work of this thesis are as follows:(1)The research background and significance of issues related to the AUV were analyzed.The research status on related fields from home and abroad were summarized, and the maincontents of this thesis with the applied requirements and characteristics of AUV were given.(2)The AUV architecture gives the related functions and modules dividing as well as thedata or command relationships between each other. It’s the basis and prerequisite to the futurestudy and design of the AUV functions. Therefore, the disadvantages of the commonarchitectures for the AUV were summarized. The design idea of hierarchical planning andre-planning with the AUV actual demands and working characteristics was proposed and theAUV hierarchical planning and re-planning architecture was given. Then, we have dividedthe module functions and described the related data information effectively on the basis of thedesigned architecture. At last, we have described the data flow and given the reasonableevaluation and analysis of the whole architecture.(3)A brief introduction to the main task of AUV was given and the initial planning andactual mission executing process with the cross-sectional view of mission and task executingwere analyzed. An appropriate hierarchical planning method was selected and its theory aswell as the planning process with the AUV architecture were studied. The related definitionand description method of AUV mission decomposition tree with the idea of hierarchicalplanning were proposed. Then, we have given the main concepts, related significance andinstance based on the AUV task planning with the finite state machine. At last, we haveproposed the plan-repair idea with the behavior layer and designed the method based on theadjustment of action insert or delete.(4)The AUV may face a lot of uncertainty things, which can easily lead to initial planning failure and need re-plan. So, we have proposed the idea of hierarchical re-planningand supervision as well as decision. The implications for research of the hierarchicalre-planning and the uncertainty in the tasks of AUV were described. The characteristics ofuncertainty events and possible influence to AUV were analyzed. The main output and inputdata of the uncertain event detection were given and the re-planning data interface wasdesigned. The supervision input, the event handling and the decision output of thehierarchical re-planning supervision as well as decision with its demand goals were studied.We have changed the AUV mission planning and decomposition tree into the real executionprocess with the actual implementation view. Then, we have analyzed and described therelated hierarchical feedback information. At last, we have also studied the main algorithmprocesses and given the specific execution steps of the hierarchical re-planning andsupervision as well as decision.Finally, the significances of the simulation experiments were highlighted and the mainfunctions of the simulation platform were given. The related simulation experiments weredesigned and the experimental results with the research contents were analyzed. The resultshave verified the rationality and effectiveness of our research and also showed that theresearch contents of this thesis can provide an effective theory and technical support to futherimprove the self-adaptability, incident response as well as the safe capability of AUV underthe complex environment and changeable task or acoustic communication limited conditions.