Abstract:
Objectives Aiming at the typical application scenarios where underwater vehicles perform search tasks such as advance submarine drive and position hunting in the target sea area, this paper explores methods to achieve efficient and seamless coverage search in unknown waters under the conditions of no prior information and being constrained by detection capabilities.
Methods By establishing a mathematical model for the search path planning of unknown waters and designing a heuristic solution method based on two-stage planning for the random search strategy, the efficiency results of various search strategies in different shaped waters are obtained.
Results In rectangular waters, parallel search or spiral search has the highest efficiency, and the "Z-word" search strategy has the lowest efficiency; in circular waters, the spiral search has the highest efficiency; in irregular waters, parallel search, "Z-word" search and spiral search cannot be directly applied, and random search can find near-optimal solutions without approximating the waters.
Conclusions The established mathematical model satisfies conditions such as "full coverage of unknown waters" and "completing the search in the shortest time". The designed random search two-stage planning model algorithm can plan a random search route that meets the full coverage requirement for any irregularly connected waters without discretizing the physical space of the battlefield, constraints and decision variables.
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