Toward Efficient Task Assignment and Motion Planning for Large Scale Underwater Missions

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1 Toward Effce Tak Agme ad Moo Plag for arge Scale Uderwaer Mo Somaeh Mahmoud.Zadeh Davd MW Power Karl Sammu Amrmehd Yada Cere for Marme Egeerg Corol ad Imagg School of Compuer Scece Egeerg ad Mahemac Flder Uver Adelade SA 504 Aurala Abrac-A Auoomou Uderwaer Vehcle AUV eed o poe a cera degree of auoom for a parcular uderwaer mo o fulfl he mo obecve uccefull ad eure afe all age of he mo a large cale operag feld. I h paper a ovel combaoral coflc-free-ak agme raeg cog of a eracve egageme of a local pah plaer ad a adapve global roue plaer roduced. The mehod ake advaage of he heurc earch poec of he Parcle Swarm Opmao PSO algorhm o addre he dcree aure of roug-ak agme approach ad he comple of NPhard pah plag problem. The propoed hbrd mehod hghl effce a a coequece of reacve gudace framework ha guaraee ucceful compleo of mo parcularl cluered evrome. To eame he performace of he mehod a coe of mo producv mo me maageme ad vehcle afe a ere of mulao ude are uderake. The reul of mulao declare ha he propoed mehod relable ad robu parcularl dealg wh ucerae ad ca gfcal ehace he level of a vehcle auoom b relg o reacve aure ad capabl of provdg fa feable oluo. Keword- Uderwaer vehcle Pah plag Roue plag Auoom Evoluoar opmao. Iroduco Auoomou Uderwaer Vehcle AUV are eadl becomg more wdel ued acro a wde rage of marme applcao. Rece breakhrough compuer em ad eor echologe have greal epaded he rage of mo ha ca be performed b AUV. Th wdeg operag rage however erwed wh he appearace of ew complee for ace propagao of ucera ad accumulao of daa raformg he uderwaer mo o a challegg cearo. Icreag he mo producv ad eurg he vehcle afe are wo ma cocep ha hould be afed all age of he mo coderg chage of evrome. Hece a vehcle mu be able o auoomoul perform effecve ad afe operao uch a evere evrome. A effce pah plag raeg a reque o reach a afacor level of auoom oward accomplhg uderwaer mo obecve. Effce roug raeg promoe a vehcle capabl ak agme maeuver mg ad maeuver effcec whle a realme local pah plaer capable of afg afe ad opmal deplome ucera damc ad cluered ocea evrome. Repecvel he pror vegao h area ca be codered alog wo dc reearch feld; vehcle pah plag alog wh vehcle roug ad ak chedulg approache. The pah plag raege are kow a effce mehod vehcle gudace oward he deao ecouerg he local uepeced damc chage of he urroudg. Varou raege uch a heurc earch algorhm [-4] evoluoar ad arfcal ellgece baed raege [5-4] have bee appled o he AUV moo plag problem rece ear. The Fa Marchg FM algorhm a heurc approach uled b Pere [3] o olve he pah plag problem whch effce bu compuaoall epeve compared o he A* algorhm. Aferward Pere [4] emploed a upgraded vero of FM called heurcall guded FM FM* ha keep he accurac of he FM alog wh he effcec of he A* bu rerced o ue lear aoropc co o aa compuaoal effcec. I geeral he heurc earch algorhm are approprae for real-me applcao due o her hgh me comple epecall large pace problem. Evoluo baed opmao algorhm are a compuaoall faer approach ha have bee appled uccefull o he pah plag problem [56]. I ha bee prove ha evoluoar algorhm are effce mehod dealg wh pah plag a a No-deermc Polomal-me NP hard problem ad are capable of afg he me rerco of real-me applcao [5-8]. The Parcle Swarm Opmao PSO [67] Geec Algorhm GA [9-] Dffereal Evoluo DE[5] ad Quaum-baed PSO QPSO [-3] are ome commol ued opmao algorhm ha have bee uccefull appled he coe of he umaed vehcle pah plag problem. Alhough mo of hee pah plag echque ca accurael gude a vehcle oward he predefed deao AUV-oreed applcao ll face ma

2 challege epecall acro a large-cale operao area. I large cale operao accurae emao of he e ae of he operag feld e.g. obacle behavor ec. far beod a vehcle curre poo ad eor coverage compuaoall hard ad epermeall mpraccal. O he oher had he cae ha he evrome populaed wh ma wapo ad he vehcle requred o carr ou a pecfc e of ak aged o dace bewee wapo a operao ework a roug raeg would be more approprae ha a pah plag raeg o prore ak baed o a global overvew of he vehcle raecor he va operag feld. Several reearch vegao have eplored he problem of auoomou vehcle roug ad ak chedulg a graph lke operao evrome. For ace he work b [4] a me-opmal coflc free roue relg o a few wapo wa geeraed b a kd of a adapve GA for operag a large erra. The heurc aure of he PSO ad GA algorhm ha bee vegaed for he AUV roug ad ak allocao problem he coe of a NP-hard graph earch problem [5]. The bogeograph-baed opmao BBO ad PSO baed roue pla ak agme em propoed [6] for real-me AUV operao a em damc ework. The mer of he propoed oluo gve [56] ha he are depede of he graph e whch o he cae wh mo deermc algorhm uch a he propoed med eger lear programmg MIP appled for goverg mulple AUV [7]. The aforemeoed raege are mol focued o ak/arge agme ad roug problem whou coderg he damc of he evrome ad qual of deplome. The vehcle roug raege are dmlar o pah plag approach erm of qual of deplome ad are o able o hadle rapd evromeal chage. Th reearch corbue a reacve combaoral coflc-free-ak agme cheme ecompag a adapve global roue ad local pah plag o cover he horcomg aocaed wh each of he aforemeoed approache. The roue plaer h coe capable of geerag a me effce roue wh approprae ak agme o eure he AUV ha a producve oure ad ed he mo o-me whle he local pah plaer repoble o geerae a approprae local pah a a maller cale o hadle chage he evrome. I fac he local pah plaer ad global roue plaer operae cocurrel parallel whle a coa eraco ad formao harg carred ou bewee hem. Ther parallel eecuo accelerae he compuao proce ad reduce uecear compuao ha would oherwe be caued b updae of whole erra. A roue re-plag capabl alo corporaed o mprove mo mg ad mprove he reacve abl of he AUV o evromeal chage. The REMUS-00 vehcle codered a he referece vehcle for h work. Referrg o he kemac ad hdrodamc model of he REMUS-00 ad he correpodg cora of he vehcle a gve [8] he problem formulao ca he be developed. The cora he opmao problem reflec he aural cora of he vehcle ad herefore he oluo obaed realc ad applcable for real-word mplemeao. The paper rucured a follow. I Seco he problem formulao demoraed. The PSO paradgm ad applcao for global roue plag ad local pah plag provded Seco 3. The mulao evrome preeed Seco 4 ad he reul aaled. I Seco 5 he cocluo for h reearch are preeed.. Problem Formulao of he AUV Roug ad ocal Pah Plag Problem The preeed framework eece a deceraled model of a hgh-level roue plaer ha earche for a approprae e of ak ha ca be accomplhed a lmed me ad a low level local pah plaer whch he model volve a deco maker core for deermg he couao of he pah plag or eed of he re-agme of ew ak. Th proce eure ha he vehcle eecue a ma ak a poble ad provde a ecure adapve deplome oward he deao whou uecear me epedure. Therefore he problem formulaed wo ep a follow.. AUV Roug Problem Ug a pror formao abou he uderwaer evrome fr of all he problem pace hould be raformed o a graph-lke evrome depced Fgure whch all ak are aged o edge of he graph. The AUV ar mo from oe of he ode called arg poo WP : ad re o accomplh he mamum umber of ob ak alog he graph edge before reachg he predefed deao poo WP D : D D D a lmed me. The poo of wapo he graph are aled radoml ug uform drbuo 3D volume of ad coeced b arbrar edge q. Each edge aged wh a ak ad weghed b he pror of he correpodg ak Tak : w T. The goal o fd he be roue hrough he gve wapo wh mamum wegh a lmed me ha he

3 AUV baer capac allow; h a form of mul-obecve opmao problem mlar o he Kapack-TSP. I he proceedg reearch he AUV roue plag problem 3D evrome formulaed a follow: d WP : d q : WP : VAUV wt d TRoue lq lq l {0} 0 0 VAUV ma lqwt l {0} mtavalable TRoue 0 3 where T Roue he requred me o pa he roue T Avalable he oal eg me l he eleco varable for a edge q he me o pa he dace d ha clude wegh w T of he correpodg ak Tak. Afer a global roue geeraed he pah plaer ar operao of geerag he opmum afe pah amog he eg wapo he global roue.. AUV ocal Pah Plag Problem I h eco he pah plaer am o fd he qucke collo-free pah bewee wapo. The damc of he 3D operao feld capure he moo of varou ac ad freel upeded obacle Θ wh ucera poo ad veloc where he upeded obacle are drve b curre flow. A obacle veloc ad ucera poo modeled wh a Gaua drbuo. Three dffere obacle are modelled h ud o valdae he effcec of he pah plaer a follow:. Sac Obec: he poo aled oce advace ug ormal drbuo ad doe o chage durg he operao. p r ~ 0 p σ σ r p WP WP Ν 4 where Θ p obacle poo ha hould be refereced o he locao of ar ad arge wapo Θ r radu ad aled wh a value rage of Sac Ucera Obec: The radu of he poo ucera for hee obec chage wh me wh a pecfed boudar ad value a me ep depede of prevou value. ~ r Ν p σ 5. Movg Ucera Obacle: hee obec move alog a dreco movaed b curre veloc hece her radu ad poo chage eravel accordg o 6: p p U p 0 r B r B Ν0 B3 U C 0 R 0 0 B 0 0 B B U C R U C R Vc ~ Ν0 0.3 C where V C he curre veloc ad U R he defed ucera o obec moo. 6.. Pah Coruco Ug B-Sple Mehod To decrbe he correpodg B-Sple for local pah geerao fr he AUV model demoraed. A AUV ha degree of freedom DoF ralaoal ad roaoal moo Earh-fed ad Bod-fed coordae [9] preeed b Fgure. The vehcle earh-fed ae varable preeed 7. X Y 7 : Z

4 Where X Y Z are he AUV poo he Earh-fed coordae; ad ϕ θ ψ are he Euler agle of roll pch ad aw. The pah plaer he proceedg reearch geerae he poeal raecore ={ } ug B-Sple curve haped accordg o placeme of umber of corol po ϑ={ϑ ϑ ϑ ϑ } he pecfed operao wdow. Placeme of hee po pla a ubaal role opmal of he pah. ocao of he corol po ϑ : 3D pace hould be cofed o predefed upper U ϑ ad lower ϑ boud he Carea coordae a gve bellow: ] [ ] [ U Rad U Rad U Rad U 8 K K K B Z B Y B X 9 9 gve he mahemacal preeao of he B-Sple curve [9] geerao whch a bledg fuco of B K ad moohe parameer of K are uled o geerae pah curve coordae X Y Z for he AUV poo a me ep alog he geeraed poeal pah. 3. Parcle Swarm Opmao ad Applcao o AUV Roug ad Pah Plag The PSO a popular opmao algorhm ha offer a fa compuao for olvg dffere comple ad mul obecve problem. I proce ar wh a populao of parcle whch each parcle characered wh poo χ ad veloc υ ha updaed eravel. Parcle correpod o caddae oluo he earch pace ad hould be evaluaed eravel accordg o a predefed co fuco. Parcle memore her prevou ae value χ- her epereced be poo of χ P-be ad alo he global be χ G-be poo he populao. More deal ca be foud [0]. Parcle veloc ad poo are updaed a follow: r c r c be G be P 0 where c c ad r r are accelerao coeffce ad depede radom umber repecvel. The ω he era wegh ad balace he local ad global earch. The PSO here ued for boh AUV roug ad pah plag purpoe a a rog algorhm for hadlg comple calg ad mul-obecve problem. A h algorhm wa developed o operae a couou pace approprae for olvg he pah plag problem ha a couou aured problem. Furhermore o adap h algorhm for olvg dcree problem uch a kapack or vehcle roug problem h reearch propoe a pror baed feable roue geerao approach o he uderlg earch pace provded Seco 3.. Thee modfcao creae he peed of he algorhm fdg opmum oluo ad preve rappg a local opma. 3. PSO ad Pah Plag Approach The pah plag am o geerae he fae collo-free pah bewee wo po. Th reearch ake he advaage of he B-Sple mehod ad he PSO algorhm o geerae derable pah curve where each parcle he warm aged b coordae of a poeal pah. The poo ad veloc of he parcle are aged wh he coordae of he corol po ϑ of he B-ple. A he PSO erae parcle move oward her repecve local aracor accordg o her dvdual ad warm earch. The proce of PSO baed pah geerao provded b Fgure. Afer caddae pah oluo are geeraed her co/fe hould be evaluaed where h ud pah co fuco defed proporoal o he pah me T pah-flgh a follow:

5 Tpah flgh 3 D VAUV Co m Tpah flgh.. 3 {0... } 3D ad p r N where Co he pah co fuco. I aumed he vehcle move wh coa lear veloc V AUV. The geeraed pealed for colldg wh a obacle Θ NΘ where N Θ he umber of obacle. Th proce geeral movae parcle oward he feable oluo pace. 3. PSO ad AUV Roug Regardg he combaoral aure AUV roug problem whch combao of TSP ad Kapack problem here hould be a comprome bewee remag me mamg umber of hgher weghed ak ad guaraeeg o-me compleo of he mo. The AUV roue plaer mulaeoul ed o deerme he approprae roue graph-lke erra whle radg-off bewee mamg he oal colleced wegh alog he roue ad afg avalable me hrehold. The oluo b he roue plaer geerall coa opmum e of ob/wapo whch he ak are prored accordg o her wegh. A geeral overvew of he PSO mecham o AUV roug provded b Fgure 3. Suable codg of he parcle b roue oluo he mo crcal facor affecg he algorhm effcec ad opmal of he geeraed oluo. Fgure. PSO opmal pah plag peudo code 3.. Parcle Ecodg Ialao Phae of PSO- Roue Geerao A parcle he propoed mehod correpod o a feable roue vecor cludg a equece of ob/wapo. The oluo vecor ake a varable legh wh mamum e equal o he oal umber of eg wapo he graph. A feable roue mu mee he followg crera: [] I hould be ared ad eded wh he de of he predefed ar ad arge wapo. [] I hould o clude coeco edge ha are o gve he graph. [3] I hould o v he ame wapo mulple me. [4] I hould o v a edge more ha oce. [5] I hould o ake loger ha he mamum avalable me. A pror-adacec baed mehod ha bee appled h ud o produce feable al oluo/roue whch gudg formao added o each wapo of he graph a he al phae. Wapo are eleced accordg o her correpodg adacec relao he graph ad her Fgure 3. The proce of PSO o AUV roue plag

6 Updae Roue b ew Remag Tme pror value he adacec mar repree relao ad edge a graph ad o keep he oluo feable ome modfcao have bee doe a follow: The pror vecor aled wh radom uform value ~U-0000 ad each wapo he graph ake a pror value from pror vecor. Ved wapo a roue are aged wh a large egave pror value o gore ved ode. The cluded edge he roue are ecluded from he adacec mar. Adacec coeco are ued for addg wapo o roue o ha o-eg edge wll be ecluded he roue. A eample of he propoed feable roue geerao proce propoed b Fgure 4 ug a ample graph wh 8 wapo ad correpodg adacec mar Ad ad pror arra U. I h proce he fr wapo added o he roue a he ar poo. The he pror of he coeced ode o he fr wapo codered ug Ad mar whch he eample ample graph he equece of {345} ad he hghe pror ode added o he equece. Th procedure repeaed ul vg he deao ode ode 8 h graph. Fgure 4. Proce of feable roue geerao b opologcal formao of a ample Termao of he PSO operao defed accordg o compleo of he erao or whe fe of he geerao ge reduced eravel. The mpora ep fe evaluao defg a effce co fuco o ha he algorhm ed o compue he co value for each roue o fd he be fed roue wh he mmum co gve b Seco Adapve Roue Re-plag The local pah plaer operae de he global roue plaer ad cocurrel ed o afel gude he vehcle hrough he wapo. If he local pah me T pah-flgh ake loger ha he epeced me for raverg he edge q T Epeced due o ecouerg uepeced chage he evrome he al roue loe opmal becaue of he waed me ad baer coumpo; o he T Avalable updaed ad roue re-plag carred ou o compue a ew opmum roue accordg o mo updae. I he re-plag proce he ved edge are omed from he graph ad he earch pace hrk. The he curre ode codered a he ew arg wapo for boh plaer. Global Roue Plaer Roue Re-Plag ocal Pah Plaer Bewee ever par of ode cluded Global Roue Compare vehcle flgh me he geeraed pah bewee wo pecfc po ad epeced ravel me: If Tpah-flgh TEpeced Coue geeraed Roue ele-f Tpah-flgh > TEpeced - Updae Tavalable - Delee paed edge from he graph; 3- Coder curre ode a he ew ar po; 4-Call Roue Plaer fore geerag ew opmum roue o he deao baed o & 3 Fgure 5. Propoed roue re-plag proce

7 Ug uch a adapve roue re-plag compeae he me dpao ad mprove he reacve abl of he vehcle coderg he evromeal chage. The re-plag proce preeed Fgure 5. To clarf h combaoal proce a eample provded Fgure 6. Coderg he al opmum roue a he equece {S D} Fgure 6 he pah plaer ed o geerae a raecor o afel gude he AUV hrough he wapo. The re-plag codo gve b Fgure 5 vegaed afer each proce of local pah plaer ad he cae ha re-plag requred he meoed updae preeed Fgure 5 are appled ad he roue plaer recalled o fd a ew opmum roue coderg mo updae e.g. ew opmum roue:{ d}. Th proce repea ul vehcle reache he requred wapo. S S D D Fgure 6. The proce of roue-pah plag ad re-plag proce a ample operao ework 3..3 Global Roue Opmal Evaluao The roue co drecl flueced b he co of he geeraed local pah Co. The roue plaer earche for a approprae oluo he ee of he be compoo of pah roue ad ak co defed a follow: Co Roue TAvalable lq 0 Co lq w l {0 } 0 T 4 where Co Roue he roue co ha defed a a fuco of Co. 4. Smulao The ma purpoe of he mulao eperme h paper evaluag he performace of ere combaoal model erm of creag mo producv ak agme ad me maageme ad guaraeeg afe maeuver durg he mo. To valdae he propoed raeg fr he effcec of he local pah plaer dvduall aeed; aferward performace coe of he global roue plaer vegaed. 4. Smulao Reul for PSO Baed ocal Pah Plaer Durg rao bewee wo po he local pah pla effecvee ca be compromed b damc chage of he evrome. The purpoe of pah plaer o mme he pah me ad o avod collo. I aumed he vehcle movg wh coa peed of 3 m/. The operag evrome modeled a a realc uderwaer volume covered b everal ucera ac ad upeded obacle. Three dffere cearo are mulaed for evaluag he effcec of he local pah plaer. I he fr oe he AUV ar operao a ac evrome ad requred o pa he hore collo free dace. I he ecod cearo he robue of he mehod eed a evrome covered b ucera ac obacle. Fall he erra become more complcaed b addg he floag obec o accou. The comple of he erra creaed graduall o e he pah plaer performace all probable codo. The PSO cofgured o ru 00 erao ad 80 parcle wh epao-coraco coeffce of.5 ad. The umber of corol po e o 6. The performace of he algorhm for all cearo propoed how Fgure 7 o 9 for dffere umber of obacle where each obacle geeraed radoml accordg o he equao preeed Seco..

8 a b c d Fgure 7. a The pah plag performace avodg kow ac obacle he cearo. b Ierave varao of he collo volao. c Ierave varao of pah me. d Ierave varao of pah co. Fgure 8. a The pah plag performace avodg ucera ac obec he d cearo. b Ierave varao of he collo volao. c Ierave varao of pah me. d Ierave varao of pah co. Fgure 9. a The pah plag performace avodg ucera upeded obec he 3 rd cearo. b Ierave varao of he collo volao. c Ierave varao of pah me. d Ierave varao of pah co. The gradual growh of collo edge of each ucera obec how Fgure 8a ad 9a whch he ucera growh aumed lear wh each erao. A preeed Fgure 7b 8b ad 9b he algorhm effcel maage he raecor o elmae he collo peal wh00 erao. I evde from Fgure 7a 8a ad 9a ha he algorhm accurael afe he collo cora ecouerg all pe of obacle. The pah ravel me a mpora performace de ha proporoal o pah co ad hould be mmed. I ferable from Fgure 7cd 8cd ad 9cd he algorhm accurael ed o mme pah ravel me ad pah co over 00 erao whle he performace of he algorhm almo able aga he creag comple of he evrome. 4. Smulao Reul for Reacve Global Roue Plaer The ma goal o make mamum ue of he mo me o creae he mo performace b opmum roug o eure o-me edg of he mo; ad cocurrel provdg afe moo o he fal deao. The roue a a equece of arraged ak provde a overvew of he operao area ha a AUV hould fl hrough. O he oher had damc chage of he evrome covered b he pah plaer whch operae cocurrel a er laer. The local pah plaer operae a a er laer of he global roue plaer ad he oupu of each plaer cocurrel feed o he oher oe. The ere combaoal cheme hould be fa eough o cope wh damc chage hadle evromeal updae ad carr ou promp re-plag o compue ew order of ak accordg o ew updae. To h ed ome performace facor of oal volao co CPU me mo me ad remaed me are vegaed hrough dvdual eperme o evaluae he performace ad abl of he model provdg afe moo ad beefce ak agme. The operao graph cofgured wh 30 ode ad 985 edge volvg a fed e of 0 ak pecfed wh her pror ad radoml drbued 0 0 km - 00 m pace. The oal avalable me e b T Avalable=9000 ec=.5 hour. The AUV ar operao a po WP ad ed

9 operao a WP 30. The erra modelled o be radoml covered b varou ucera obec. The PSO cofgured wh he ame al codo of he local pah plaer. Th mulao mplemeed o a dekop PC wh a Iel GH quad-core proceor ug MATAB R04a. The full proce of oe eperme ou of he eparae mo gve b Fgure.0 o eplaed Table.A-B o clarf he operao flow of he propoed combaoal raeg acro all age of a parcular mo oward addreg he meoed obecve. A B Global Roue Plaer ocal Pah Plaer Table. A overvew of he proce of he combaoal model oe mo cearo Call NO WP S WP D Tak NO Roue Wegh Roue Co CPU Tme TAvalable TRoue Vald Roue Sequece Ye Ye Ye Ye Ye 0-30 Roue ID PP Call Edge Volao Pah Co CPU Tme Tpah TEpeced TAvalable Repla Flag Roue Roue Roue Roue Roue PP Flag The mo commece wh operao of he global roue plaer o produce a vald opmum roue order o ake mamum ue of avalable me T Roue T Avalable. Coderg Table.A he al global roue clude 7 ak wegh of 8 ad co of.097 wh mo me of T Roue=8597 ; he he local pah plaer geeraed hore ad afe pah bewee he e of ode led he al roue. Coderg Table.B he local pah plaer geeraed a raecor bewee he fr par of ode -3 wh oal co of he 0.38 ad me of T pah=476 whch maller ha epeced ravel me T Epeced=54.3. Whe T pah maller ha T Epeced he re-plag flag ero whch mea ha he al roue ll vald ad opmum o he vehcle allowed o follow he e par of wapo cluded al opmum roue. The T Avalable ge updaed afer each operao of he local pah plaer. The ecod par of wapo 3-6 hfed o he local pah plaer ad he ame proce repeaed. However pah plag 6-8 ook loger ha T Epeced o he re-plag flag ured o he T Avalable updaed ad ved edge - ad 3-6 are deleed from he graph. Aferward he global roue plaer recalled o produce a ew opmum roue from he curre wapo WP 8 o he WP 30 accordg o ew updae. I he reul how Table. he local pah plaer called 0 me wh 5 opmum roue. Th chroao amog he global ad local moo plaer coue ul vehcle reache deao ucce or T Avalable ge a mu value falure: vehcle ru ou of baer. The fal roue paed b he vehcle h mo hrough he 5 roue re-plag ad 0 pah plag he equece of wapo cludg { } wh oal co of.878 oal wegh of ad oal me of 89. From mulao reul Table.A oed ha all cae roue ravellg me obaed b he PSO maller ha oal avalable me ad he volao value for all oluo equal o ero hu cofrmg feabl of he produced roue ad ha he model repec he defed cora. The be reul for he model compleo of he mo wh he mmum remaed me T Remaed ha mea mamg he ue of avalable me. The reul provded Table.A cofrm ha he model ac effcel erm of mamg mo producv b makg mamum ue of he avalable me a T Roue approache T Avalable. Referrg o Table.B he remag me 87.8 ecod ou of he oal mo me avalable T Avalable=.5 hr whch coderabl approached o ero. Coderg ha reachg he deao he bgge cocer for a vehcle afe more mpora ha mamg he vehcle producv a bg peal value aged o he global roue plaer o rcl preve geerag roue wh T Roue bgger ha T Avalable. I h reearch he compuaoal me aoher mpora performace facor ha hould be vegaed for he pah-roue plaer becaue he operae cocurrel hu a large compuaoal me for eher of hem dermeal o he roue flow of he whole em. The robue of he model afg he addreed obecve evaluaed b eg mo hrough dvdual mulao all wh equvale al codo baed o realc uderwaer mo cearo. Thee reul are preeed Fgure 0 ad.

10 Fgure 0. Performace of he combaoal model mo me maageme Fgure. Sabl of he global roue plaer co varao of ad varao of oal obaed wegh 6 dvdual eperme Fgure. Sabl of he Global roue ad local pah plaer compuaoal me varao From he mulao reul gve Fgure 0 ca be ee ha he propoed archecure capable of makg mamum ue of avalable mo me a apparel he mo me all eperme approache he T Avalable ad mee he above cora deoed b he upper boud of.5 hour whch pree he abl of he model mo me maageme. I evde from Fgure ha he average co varao of he global roue plaer each eperme ceraled over he oal co of he fal roue produced he correpodg mo. I alo oeworh o meo from aalg he reul Table.A-B ha he propoed mehodolog ake a ver hor compuaoal me whch make hghl uable for real-me applcao. The abl of he varabl of compuaoal me for boh global ad local plaer a how Fgure alo cofrm he applcabl of he model for real-me mplemeao. More mporal he volao perceage for boh plaer preeed Table. reveal he robue of he model o he varao of he operao ework parameer ad evromeal codo o ha he vehcle ca mee he damc challege of he evrome ad guaraee afe deplome ad o-me compleo of he mo. 5. Cocluo Th paper focue o developg a reacve combaoal coflc-free-ak agme mehod baed o reacve global roue plag ad collo-free local pah plag ha eure he coe uaoal awaree of he evrome ad guaraee a real-me mplemeao. Eplog a pror kowledge of he uderwaer evrome he global roue plaer geerae a me effce roue wh be equece of ak o be carred ou o eure he AUV ha a ucceful operao ad reache deao o-me a a oblgaor requreme for vehcle afe. Alog wh a effce roue plaer a local pah plaer produced maller cale o afel gude he vehcle hrough he pecfed wapo he global roue wh mmum me/eerg co. The emploed PSO-baed local pah plaer effce ad fa eough o rapdl reac o chage of he evrome ad geerae a collo-free opmum pah. Roue re-plag meawhle performed o reduce waed me dealg wh uepeced chage of he evrome ad coequel promoe robue ad reacve abl of he AUV. O he oher had abl of he hbrd plaer me maageme he mo crcal facor repreeg robue of he mehod. The value of he remag me upo compleg he mo hould be mmal bu hould o be equal o ero. Mmg he remag me mame he mo producv. The reul obaed from aalg he dffere mo demorae he here robue ad effecvee of he propoed cheme ehacg a vehcle mo producv ad mo me maageme.

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