Research Article
Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints
Table 3
Optimized missions to survey 2 km × 2 km area with variable energy and time = 30,000 seconds until recovery.
| Area surveyed | Lane spacing | AUV speed | Energy used | Energy avail | Time-max 30 k sec | (%) | (m) | (m/s) | (kWh) | (kWh) | (10 k sec) |
| 76.34 | 78.29 | 1.46 | 133.0 | 150 | 29.837 | 83.58 | 79.83 | 1.59 | 179.3 | 200 | 28.112 | 91.61 | 80.00 | 1.72 | 231.0 | 250 | 28.600 | 94.98 | 79.22 | 1.86 | 290.9 | 300 | 29.402 | 98.59 | 75.91 | 1.92 | 335.9 | 350 | 29.741 | 98.76 | 76.05 | 1.95 | 270.3 | 400 | 29.652 |
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