Architecture Design and Implementation of UUV Mission Planning

With the rapidly increasing demand for unmanned underwater vehicles (UUVs) application, UUVs have been widely implemented to explore marine resources and perform marine missions. Robust software architecture is a fundamental guarantee to achieve autonomous mission decision-making for UUVs in the complex ocean environment. In this paper, we proposed one software architecture of UUVs for complex multi-mission decision making with the mission planning and mission replanning functions. This software architecture can make a rapid response to the changes in mission quantity, attributes, and so on. Besides, real-time mission re-planning is possible. Considering that multi-mission decision is an NP optimal problem, we improved our previous mission planning model and used the metaheuristic algorithm, ant colony optimization algorithm (ACO), to prove the correctness and effectiveness of software architecture, and the performance of different missions operations are compared by the experimental simulations.