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Expansion of today's underwater scenarios and missions necessitates therequestion for robust decision making of the Autonomous Underwater Vehicle(AUV); hence, design an efficient decision making framework is essential formaximizing the mission productivity in a restricted time. This paper focuses ondeveloping a deliberative conflict-free-task assignment architectureencompassing a Global Route Planner (GRP) and a Local Path Planner (LPP) toprovide consistent motion planning encountering both environmental dynamicchanges and a priori knowledge of the terrain, so that the AUV is reactivelyguided to the target of interest in the context of an unknown underwaterenvironment. The architecture involves three main modules: The GRP module atthe top level deals with the task priority assignment, mission time management,and determination of a feasible route between start and destination point in alarge scale environment. The LPP module at the lower level deals with safetyconsiderations and generates collision-free optimal trajectory between eachspecific pair of waypoints listed in obtained global route. Re-planning moduletends to promote robustness and reactive ability of the AUV with respect to theenvironmental changes. The experimental results for different simulatedmissions, demonstrate the inherent robustness and drastic efficiency of theproposed scheme in enhancement of the vehicles autonomy in terms of missionproductivity, mission time management, and vehicle safety.

A Novel Versatile Architecture for Autonomous Underwater Vehicle's Motion Planning and Task Assignment