Optimal AUV path planning for extended missions in complex, fast-flowing estuarine environments

This paper addresses the problems of automatically planning autonomous underwater vehicle (AUV) paths which best exploit complex current data, from computational estuarine model forecasts, while also avoiding obstacles. In particular we examine the possibilities for a novel type of AUV mission deployment in fast flowing tidal river regions which experience bi-directional current flow. These environments are interesting in that, by choosing an appropriate path in space and time, an AUV may both bypass adverse currents which are too fast to be overcome by the vehicle\´s motors and also exploit favorable currents to achieve far greater speeds than the motors could otherwise provide, while substantially saving energy. The AUV can "ride" currents both up and down the river, enabling extended monitoring of otherwise energy-exhausting, fast flow environments. The paper discusses suitable path parameterizations, cost functions and optimization techniques which enable optimal AUV paths to be efficiently generated. These paths take maximum advantage of the river currents in order to minimize energy expenditure, journey time and other cost parameters. The resulting path planner can automatically suggest useful alternative mission start and end times and locations to those specified by the user. Examples are presented for navigation in a simple simulation of the fast flowing Hudson River waters around Manhattan.