Optimal search path planning of UUV in battlefeld ambush scene  

作　　者：Wei Feng Yan Ma Heng Li Haixiao Liu Xiangyao Meng Mo Zhou 

机构地区：[1]Naval Research Institute,Beijing,100161,China

出　　处：《Defence Technology（防务技术）》2024年第2期541-552,共12页Defence Technology

摘　　要：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.

关 键 词：Battlefield ambush Optimal search path planning UUV path Planning Probability of cooperative search 

分 类 号：U674.941[交通运输工程—船舶及航道工程]