Modeling and Analysis for the Target Detection via Multiple Autonomous Underwater Vehicles

With more and more attention paid to the study of ocean exploration, the long-term monitoring and detection of underwater environment have become a demand. In some researches, the dense sensor deployment is used to monitor the underwater environment. Because of the strong maneuverability of target, the detection performance of the intensive sensor deployment is not high. Therefore, the autonomous underwater vehicle (AUV) is used to monitor the underwater environment. In this paper, we use a group of AUVs which consist of two AUVs with a certain distance to monitor and detect the underwater environment. Firstly, we point out the optimal detection mode of the group of AUVs is along a straight line. Then, based on the linear detection mode, the coverage degree of underwater environment is quantitatively analyzed. Besides that, we give the theoretical formula of target detection probability for stationary and moving targets. Finally, we give some simulation results to further verify the correctness of the theoretical results.