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