Reducing AUV Energy Consumption Through Dynamic Sensor Directions Switching via Deep Reinforcement Learning

Autonomous underwater vehicle (AUV) is crucial for marine applications such as ocean data collection, pollution monitoring, and navigation. However, their limited energy resources constrain their operational duration, posing a significant challenge for long-term operations. Due to the complex and unpredictable nature of the underwater environment, AUVs allocate energy to their sensing systems to sense the surrounding environment and avoid obstacles. Existing methods focus on reducing energy consumption on AUV computing and movement, neglecting sensing energy consumption and few attempts have been made to balance the AUV energy and sensing ability with a flexible sensing system. Along these lines, we consider both AUV energy consumption and flexible sensing abilities, and propose a deep reinforcement learning-based method to Reduce Energy Consumption by AUV Sensing system (RECS). Specifically, we build an AUV sensing system in a 2-dimension space, with controllable 8-direction sensing abilities to collect the environment information dynamically. Then we divide the underwater environment into several areas and assign weights on the edges of areas based on the AUV planned path. Additionally, we dynamically switch the sensors in different directions and radii to sense the edges of the area where the AUV is located. The Artificial Potential Field (APF) method is employed to re-plan the AUV path to avoid obstacles and reach the target point effectively. Experimental results demonstrate that compared to full sensors on, our method reduces energy consumption by 53.48% and is capable of generalizing to varying environments and varying sensing system radii.