Submarine searching path planning with UUV based on detection probability
Aiming at the status of the target is hard to describe accurately and the traditional submarine searching meth-ods can't get optimal detection probability,a submarine searching path planning method is provided for Unmanned Under-water Vehicle(UUV)based on detection probability.Firstly,the searching area is divided into grids and the target motion model is built based on Hidden Markov Model(HMM).Then,the submarine searching path panning is done by genetic al-gorithm(GA)with UUV to get largest detection probability which is taken as the objective function.In the simulation exper-iments,compared with classic example,the results illustrate the correctness of the method.Compared with two common methods of rectangle searching and random searching,the results showed the effectiveness of the method.
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