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