Planning algorithm of USV antisubmarine mission based on the dipping sonar

Abstract

In view of the requirements of USV independently-performed antisubmarine mission based on the dipping sonar, this essay analyses the characteristics of the use of dipping sonar, constructs the detection probabilistic model of the dipping sonar, designs the control process of autonomous USV antisubmarine by using the dipping sonar, realizes the task planning model of submersible search based on probabilistic model and the quality of submersible search. Through the simulation calculation, this essay points out that the input parameters of the algorithm are less, and the output planning can meet the control requirements of USV antisubmarine mission with good performance and expected goals.

Keywords

• usv|dipping sonar|antisubmarine planning|artificial potential field|breadth first search