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Today AUVs operation still remains restricted to very particular tasks withlow real autonomy due to battery restrictions. Efficient motion planning andmission scheduling are principle requirement toward advance autonomy andfacilitate the vehicle to handle long-range operations. A single vehicle cannotcarry out all tasks in a large scale terrain; hence, it needs a certain degreeof autonomy in performing robust decision making and awareness of themission/environment to trade-off between tasks to be completed, managing theavailable time, and ensuring safe deployment at all stages of the mission. Inthis respect, this research introduces a modular control architecture includinghigher/lower level planners, in which the higher level module is responsiblefor increasing mission productivity by assigning prioritized tasks whileguiding the vehicle toward its final destination in a terrain covered byseveral waypoints; and the lower level is responsible for vehicle's safedeployment in a smaller scale encountering time-varying ocean current anddifferent uncertain static/moving obstacles similar to actual oceanenvironment. Synchronization between higher and lower level modules isefficiently configured to manage the mission time and to guarantee on-timetermination of the mission. The performance and accuracy of two higher andlower level modules are tested and validated using ant colony and fireflyoptimization algorithm, respectively. After all, the overall performance of thearchitecture is investigated in 10 different mission scenarios. The analyze ofthe captured results from different simulated missions confirm the efficiencyand inherent robustness of the introduced architecture in efficient timemanagement, safe deployment, and providing beneficial operation by properprioritizing the tasks in accordance with mission time.

An Autonomous Reactive Architecture for Efficient AUV Mission Time Management in Realistic Severe Ocean Environment