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Research on Multiple-AUVs Collaborative Detection and Surrounding Attack Simulation.

Zhiwen Wen¹, Zhong Wang¹, Daming Zhou²

¹Xi'an Precision Machinery Research Institute, Xi'an 710077, China.

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|January 23, 2024

Summary

This summary is machine-generated.

This study presents a coordinated multi-AUV system for marine missions. It uses advanced algorithms for efficient ferrying, detection, and attack, improving operational capabilities.

Keywords:

AUV formation LSTM artificial potential field collaborative detection collaborative surrounding attack path planning

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Area of Science:

Robotics
Artificial Intelligence
Marine Engineering

Background:

Single Autonomous Underwater Vehicles (AUVs) have limited operational scope and efficiency.
Contemporary marine environments require enhanced capabilities beyond single AUVs.
Coordinated multi-AUV systems are increasingly important for complex missions.

Purpose of the Study:

To propose a comprehensive solution for coordinated multi-AUV formation development.
To enable long-range ferrying, coordinated detection, and surrounding attack missions.
To enhance the operational efficiency and scope of underwater robotic systems.

Main Methods:

Collision-free path planning using the Rapidly Exploring Random Tree (RRT) algorithm.
Artificial potential field method for maintaining formation integrity and obstacle avoidance during detection.
Long Short-Term Memory (LSTM) networks and Deep Deterministic Policy Gradient (DDPG) for predictive targeting and formation control during attack.

Main Results:

Demonstrated collision-free movement in the initial ferrying phase.
Successfully maintained AUV formation integrity and adapted to environmental changes during coordinated detection.
Enhanced predictive capabilities and effective formation control for coordinated attack maneuvers.

Conclusions:

The proposed multi-AUV coordination solution effectively addresses complex marine mission requirements.
The integrated approach combining path planning, potential fields, LSTM, and DDPG enhances AUV operational capabilities.
Simulation results validate the system's effectiveness for coordinated ferrying, detection, and attack missions.