Research On Area Coverage Method For Micro Unmanned Underwater Vehicles Swarm

Recently, the underwater environment has become more important and has beenresearched. Acquiring information on the underwater environment is obviously necessary forworks on topography, resource searching, and military applications. Micro UnmannedUnderwater Vehicle group collaborate to complete large area coverage detection in theshortest possible time, which has important theoretical research and application prospect forUnmanned Underwater Vehicle exploration work.This paper focuses on the static coverage and dynamic area coverage methods, for theuncertain ocean environment area coverage optimization problems:First, a number of AUV Group Architecture was designed according to multiple AUVstatic coverage detection problem; Based on Voronoi partition principle, the AUV staticcoverage problem mathematical description of task allocation was given; In order toovercome the defects, based on density function and the optimal position function this paperresearched multiple AUV partition method which is based on uniform density distribution;The CVT distribution static area coverage algorithm was designed; The simulation results oftest verification was given.Second, for the AUV dynamic target collision problem in the environment, using theforward looking sonar view simulation model to calculate the distance between the target withthe AUV real-time, this paper designed obstacle avoidance algorithm based on the basictheory of genetic algorithms; Collision avoidance planning problem has been solved in theprocess of dynamic regional coverage detection; The simulation experiments verify thevalidity of the algorithm.Again, for the dynamic coverage problem, the three-dimensional space environment wassimplified to two-dimensional topographic terrain within the depth, and presents four oceanterrain classification; on the basis of the study in the traditional complex topography areacoverage method, considering the current interference and different categories of oceantopography factors, this paper has improved the methods of dynamic area coverage with sidescan senor and has calculated the effective exploration width, which completed complexocean environment area coverage and exporation.Finally, In order to apply the improved method to the Multi-AUV operation, each AUVwas assigned of covering or screening role by means of dynamic role assignment mechanism.Then the dynamic role model was given and the dynamic role assignment algorithm wasdesigned. Using the dynamic area coverage task allocation and optimal exploration width, thispaper completed the simulation test. The research on AUV group cooperative area coverage has important application value,for the future of space marine monitoring, submarine pipeline testing, hydrology survey,military target search and research operations such as military and commercial applications.