Application of On-Board Evolutionary Algorithms to Underwater Robots to Optimally Replan Missions with Energy Constraints

Table 2

Bounds on optimizing parmeters. (sonar range = 50 m on one side → survey swath width = 100 m).

Optimizing parameter	Bounds imposed
Speed over ground	[0.5–2.0] meters/second	AUV performance
Turn diameter	[50–80] m ~ [50–20] % overlap of neighbour swaths	sensor performance
Time	[80–100] % of max time	mission requirement