Integrated mission planning and adaptable docking system for AUV persistence

Mission planning for underwater area coverage missions has typically been completed separately to development of charging infrastructure. This paper presents a proof of concept for an integrated mission planning approach and docking system to enable underwater persistence. The mission planner follows a genetic algorithm approach to generate trajectories for working AUVs to perform an area coverage mission and locations for docking stations to respond to AUV energy needs. The docking system is a light weight, portable dock that is adaptable to a wide range of AUVs and can be mounted on small marine platforms. Experimental validation of the docking system was completed using a Bluefin SandShark due to the ease of customization of the payload bay. Validation of the planned missions was completed using an OceanServer Iver3 equipped with an enhanced sensor suite. Experimental results in open water validate the concept of an integrated mission planner and docking system to enable multi-robot systems to operate long-term missions without manned support