Autonomous mission planning for AUVs team cooperation

Our goal in this paper is presenting the existing functionality of this autonomous team mission planning platform (in short, ATMP platform), which is integrated with the functions of mission distinguish compiler, mission disassembly, task assignment and individual-level task planner. The framework based on multilayer mission planning flow and multilayer events analyzing and responding flow is designed accordingly. We will propose a definition of the survey mission XML script structure with the aim of working more efficiently with the mission grammar distinguishing and compiling. A mission disassembly controller is designed based on the principle of ant colony clustering optimization in order to improve the disassembling of multi-area survey mission. Tabu list is established to mark the visited area and avoid repeated survey the same area. Meanwhile, a task planning method based on genetic algorithm is adopted to plan a series of spatio-temporal behavior orders for each AUV. One of the important features of our approach is that we can program the mission planner using a different high-level ATMP just by modifying the mission script that is used in the front-end mission download interface; no modification needs to be made to the back end.