2D Optimal Trajectory Planning Problem in Threat Environment for UUV with Non-Uniform Radiation Pattern

Area of Science:

• Robotics and Control Systems
• Ocean Engineering
• Applied Mathematics

Background:

• Path planning is crucial for Unmanned Underwater Vehicles (UUVs) in diverse applications.
• Key objectives include ensuring safe routes while minimizing energy consumption and signal emissions.
• On-board UUV path planning necessitates computationally efficient algorithms for trajectory generation.

Purpose of the Study:

• To address the problem of optimal route planning for UUVs with non-uniform radiation patterns.
• To develop and prove necessary and sufficient optimality conditions for this specific variational problem.
• To extend optimality conditions to multi-link motion paths and investigate non-ideal scenarios.

Main Methods:

• Formulation of the optimal route planning problem as a two-point variational problem.
• Derivation and proof of necessary and sufficient optimality conditions.
• Analysis of cases where optimality conditions are not met, linked to specific radiation patterns.
• Extension of sufficient optimality conditions to two-link and multi-link motion paths.
• Development of software tools and performance of computer simulations.

Main Results:

• Established optimality conditions for UUV path planning with non-uniform radiation patterns.
• Identified specific radiation pattern characteristics influencing optimality.
• Demonstrated the applicability of the method to complex, multi-link UUV movements.
• Validated the approach through simulations across various radiation pattern types.

Conclusions:

• The proposed variational approach provides a robust framework for optimal UUV path planning.
• The findings are particularly relevant for UUVs operating in environments where radiation patterns are critical.
• The developed methods and software enable efficient and effective UUV mission planning.