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Providing a higher level of decision autonomy and accompanying prompt changesof an uncertain environment is a true challenge of AUVs autonomous operations.The proceeding approach introduces a robust reactive structure thataccommodates an AUV's mission planning, task-time management in a top level andincorporates environmental changes by a synchronic motion planning in a lowerlevel. The proposed architecture is developed in a hierarchal modular formatand a bunch of evolutionary algorithms are employed by each module toinvestigate the efficiency and robustness of the structure in different missionscenarios while water current data, uncertain static-mobile/motile obstacles,and vehicles Kino-dynamic constraints are taken into account. The motionplanner is facilitated with online re-planning capability to refine thevehicle's trajectory based on local variations of the environment. A smallcomputational load is devoted for re-planning procedure since the upper layermission planner renders an efficient overview of the operation area that AUVshould fly thru. Numerical simulations are carried out to investigaterobustness and performance of the architecture in different situations of areal-world underwater environment. Analysis of the simulation results claimsthe remarkable capability of the proposed model in accurate missiontask-time-threat management while guarantying a secure deployment during themission.

Persistent AUV Operations Using a Robust Reactive Mission and Path Planning (RRMPP) Architecture