Path planning and search effectiveness of USV based on underwater target scattering model

Abstract A multi-USV optimal path planning algorithm based on underwater target scattering model is proposed for the difficult problem of combining path planning and underwater target sonar search for Unmanned Surface Vehicle (USV). The algorithm is based on the characteristics of multi-USV collaborative search problem, and then constructs the partition search model with improved k-means algorithm and the sub-region path planning algorithm model with improved particle swarm algorithm (PSO). And in order to be closer to the needs of the actual scenario, the target submarine dispersion model and the dipped sonar search model are constructed. Combined with the area partitioning algorithm module and the path planning algorithm module, it is applied to the effectiveness calculation of searching for submarine targets. Through simulation and comparison experiments, we verified the effectiveness and superiority of the proposed path planning algorithm in this paper.