  This paper describes a reflexive multilayered mission planner with a mounted
energy efficient local path planner for Unmanned Underwater Vehicle's (UUV)
navigation throughout the complex subsea volume in a time-variant semi-dynamic
operation network. The UUV routing protocol in Underwater Wireless Sensor
Network (UNSW) is generalized with a homogeneous Dynamic Knapsack-Traveler
Salesman Problem emerging with an adaptive path planning mechanism to address
UUV's long-duration missions on dynamically changing subsea volume. The
framework includes a base layer of global path planning, an inner layer of
local path planning and an environmental sub-layer. Such a multilayer
integrated structure facilitates the framework to adopt any algorithm with
real-time performance. The evolutionary technique known as Differential
Evolution algorithm is employed by both base and inner layers to examine the
performance of the framework in efficient mission timing and its resilience
against the environmental disturbances. Relying on reactive nature of the
framework and fast computational performance of the DE algorithm, the
simulations show promising results and this new framework guarantees a safe and
efficient deployment in a turbulent uncertain marine environment passing
through a proper sequence of stations considering various constraint in a
complex environment.
