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HYPOTHESIS AND THEORY article

Front. Mar. Sci.
Sec. Ocean Observation
Volume 11 - 2024 | doi: 10.3389/fmars.2024.1483122

Coverage Path Planning for Multi-AUV Considering Ocean Currents and Sonar performance

Provisionally accepted
Xukai Mu Xukai Mu Wei Gao Wei Gao *
  • Ocean University of China, Qingdao, China

The final, formatted version of the article will be published soon.

    Coverage path planning (CPP) for target search by autonomous unmanned vehicle (AUV) involves two crucial aspects: (1) the sonar performance of the AUV is sensitive to ocean environment, such as changes in terrain; and (2) the ocean currents significantly influence AUV dynamics AUV dynamics.To address the CPP of multiple AUVs (multi-AUV) considering both sonar performance and ocean currents, we propose a new integrated algorithm based on the improved Dijkstra algorithm, Particle Swarm Optimization (PSO), and the ELKAI Solve. First, the necessary sampling points for the area coverage are identified based on the sonar detection range at different locations, which is calculated by combining the ocean acoustics model with the sonar equation. Second, an improved Dijkstra algorithm is presented to solve the adjacency matrix of the graph formed by all sampling points under the influence of ocean currents. Third, the PSO algorithm is utilized for task allocation, and the ELKAI solver determines the optimal path for each AUV. Finally, multi-AUV path planning is achieved through iterations of the PSO algorithm and the ELKAI solver. Simulation results demonstrate the outstanding performance and robustness of our integrated algorithm.

    Keywords: ELKAI Solver, Improved dijkstra, Multi-AUV path planning, Particle Swarm Optimization, Sonar performance

    Received: 19 Aug 2024; Accepted: 16 Dec 2024.

    Copyright: © 2024 Mu and Gao. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

    * Correspondence: Wei Gao, Ocean University of China, Qingdao, China

    Disclaimer: All claims expressed in this article are solely those of the authors and do not necessarily represent those of their affiliated organizations, or those of the publisher, the editors and the reviewers. Any product that may be evaluated in this article or claim that may be made by its manufacturer is not guaranteed or endorsed by the publisher.