Bulletin of the Polish Academy of Sciences: Technical Sciences

Wawrzyński, Wojciech; Zieja, Mariusz; Żokowski, Mariusz; Sigiel, Norbert

doi:10.24425/bpasts.2022.140371

2022

DOI: 10.24425/bpasts.2022.140371

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Bulletin of the Polish Academy of Sciences: Technical Sciences

Wojciech Wawrzyński

Mariusz Zieja

Mariusz Żokowski³

et al.

Abstract: This article presents the information concerning aspects of the autonomous underwater vehicle (AUV) mission planning process, emphasizing maritime security monitoring and surveillance, and using side-looking sonars as a primary data source. The paper describes characteristic mission plan phases and gives suggestions for the operators, mainly concerning the safety and effectiveness of the AUV mission. The article describes the coverage path planning algorithm, which could be used to create an effective AUV miss… Show more

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Cited by 5 publications

References 18 publications

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An Optimal Delay Tolerant and Improved Data Collection Schema Using AUVs for Underwater Wireless Sensor Networks

Rahman,

Shaf,

Ali

et al. 2024

IEEE Access

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This paper presents two Elliptical Trajectories for Efficient Data-gathering and Delay-tolerant (TETD 2 ) routing schemes for Underwater Wireless Sensor Networks (UWSNs). The TETD 2 protocol consists of two phases. The first phase involves creating an atomic-shaped trajectory for an Autonomous Underwater Vehicle. In second phase, to improve the delay tolerance of the protocol, communication between random nodes (RNs), destination nodes (DNs), autonomous underwater vehicles (AUVs) and the sink node have been proposed. The latency between RNs in the network reveals the necessary time for choosing the prospective forwarders for making association linkages. The shortest path from a multipath environment sends a packet from its origin to the destination node using the RNs-to-DNs model in the shortest time possible. To gather data as quickly as possible, the novel trajectory model maximizes the number of DNs for RNs associations. In addition, a cooperation process has been introduced to allow for data sharing from parent AUV to child and onward to the sink node. The performance of TETD 2 was tested using the network simulator (NS-2) and compared to the currently used method for data-gathering, the Effective Data Gathering (AEDG) protocol. The simulation results showed that TETD 2 outperformed the ASEDG in terms of throughput and end-to-end delay. The TETD 2 protocol offers a promising solution for efficient datagathering in UWSNs and has the potential to significantly improve the performance of such networks.

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An Optimal Delay Tolerant and Improved Data Collection Schema Using AUVs for Underwater Wireless Sensor Networks

Rahman,

Shaf,

Ali

et al. 2024

IEEE Access

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A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

Kot,

Szymak,

Piskur

et al. 2024

IEEE Access

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This article presents an extensive comparison of collision avoidance systems with local path planning based on a mathematical model of an autonomous underwater vehicle (AUV) controlled by the trajectory tracking control system. In the study, six methods such as improved artificial potential field (APF), D* algorithm, dynamic course adjustment (DCA), genetic algorithm (GA), particle swarm optimization (PSO) and rapidly-exploring random tree (RRT) were tested, the efficiency of which was verified on 10 test maps with various types of obstacles' configurations and shapes with taking into account real-time decision-making ability. Both obstacle detection system and collision avoidance systems were extensively fine-tuned to achieve a compromise between collision avoidance efficiency and minimization of computation time. Based on the prepared simulation framework and environment, the trajectory completion percentage, average trajectory deviation, trajectory energy consumption, computation time and percentage of collision trials were assessed. The best results in terms of AUV safety were achieved by the D* and DCA methods. Slightly worse results were obtained by GA and PSO. Considering real-time decision-making ability, the best results were obtained by DCA and APF methods. Based on a detailed analysis of the results, it can be concluded that the DCA method can be used in quick-react emergency systems, and D*, GA and PSO methods are reasonable to use in medium-range local collision avoidance systems.

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Fuzzy Inference-Based Adaptive Sonar Control for Collision Avoidance in Autonomous Underwater Vehicles

Kot

2024

Polish Maritime Research

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This article discusses the use of adaptive control in the sonar scanning sector within an obstacle detection system, to improve the effectiveness of collision avoidance for autonomous underwater vehicles (AUVs). An adaptive network-based fuzzy inference system (ANFIS) was used for dynamic calculations of the sonar scanning sector. Based on 100 simulation scenarios containing various trajectories created by the mission planner, with various shapes, dimensions and arrangements of static obstacles, and various arrangements and displacement vectors of dynamic obstacles, the effectiveness of the proposed system was tested in comparison with other classical approaches such as a single echosounder and sonar with a fixed scanning sector width. The above sensor configurations were evaluated in terms of the percentage of collision-free trials, the average percentage of trajectory completion, and the average number of activations of the collision avoidance system. Simulations conducted based on the mathematical model of the AUV confirmed that the proposed approach increased the effectiveness of collision avoidance systems for AUVs compared to classical echosounder and sonar-based systems.

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Bulletin of the Polish Academy of Sciences: Technical Sciences

Cited by 5 publications

References 18 publications

An Optimal Delay Tolerant and Improved Data Collection Schema Using AUVs for Underwater Wireless Sensor Networks

An Optimal Delay Tolerant and Improved Data Collection Schema Using AUVs for Underwater Wireless Sensor Networks

A Comparative Study of Different Collision Avoidance Systems With Local Path Planning for Autonomous Underwater Vehicles

Fuzzy Inference-Based Adaptive Sonar Control for Collision Avoidance in Autonomous Underwater Vehicles

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