Research Article
Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints
Table 1
Common energy sources for AUVs.
| Battery type | Cost ($/Wh) | Energy density (Wh/liter) | Specific energy (Wh/kg) | Typical cell dimensions (mm) |
| lithium ion | 4.27 | 300 | 130 | 225 × 212 × 9.5 | silver zinc | 1.75 | 240 | 130 | 178 × 161 × 8 | lead acid | 0.17 | 65 | 30 | 330 × 228 × 152 |
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