Optimal search path planning of UUV in battlefeld ambush scene
Wei Feng, Yan Ma, Heng Li, Haixiao Liu, Xiangyao Meng, Mo Zhou
Abstract
Aiming at the practical application of Unmanned Underwater Vehicle (UUV) in underwater combat, this paper proposes a battlefield ambush scene with UUV considering ocean current. Firstly, by establishing these mathematical models of ocean current environment, target movement, and sonar detection, the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively. Then, based on the Hybrid Quantum-behaved Particle Swarm Optimization (HQPSO) algorithm, the path with the highest target search probability is found. Finally, through simulation calculations, the influence of different UUV parameters and target parameters on the target search probability is analyzed, and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated, and the optimal search path scheme is obtained. The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.