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

Table 4

Optimized sonar lane spacing and resulting overlap with neighboring lanes (50 m Sonar Range).

Area surveyed	Lane spacing	Survey area overlap
(%)	(m)	(%)
76.34	78.29	21.71
83.58	79.83	20.17
91.61	80.00	20.00
94.98	79.22	20.78
98.59	75.91	24.09
98.76	76.05	23.95