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A Hierarchical Planning Method for AUV Search Tasks Based on the Snake Optimization Algorithm.

Zhiwen Wen1, Zhong Wang1, Xiangdong Wen2

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

Sensors (Basel, Switzerland)
|November 27, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a hierarchical planning method for autonomous underwater vehicles (AUVs) to intercept dynamic targets quickly. The approach optimizes AUV navigation time and trajectory for efficient search tasks in complex environments.

Keywords:
autonomous underwater vehicleshierarchical programming approachsearch taskssnake optimization algorithm

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Marine Engineering

Background:

  • Autonomous underwater vehicles (AUVs) face challenges in dynamic battlefield environments for target interception.
  • Efficient global autonomous planning is crucial for AUV search task completion.

Purpose of the Study:

  • To develop a hierarchical AUV task planning method for minimizing encounter time with dynamic targets.
  • To address scenarios where initial target information is available.

Main Methods:

  • A three-level hierarchical programming approach combined with a snake optimization algorithm.
  • Decomposition of the search task into outer (encounter time), middle (navigation time), and inner (trajectory optimization) layers.
  • Optimization considering constraints like threat zones, path length, and path smoothness.

Main Results:

  • The proposed method was validated through simulations for AUV search tasks.
  • Demonstrated effective task planning for AUVs under various constraints.
  • Successfully optimized encounter times between AUVs and dynamic targets.

Conclusions:

  • The hierarchical planning method offers a feasible and practical solution for AUV dynamic target search.
  • The approach optimizes AUV performance and encounter times, showing significant engineering value.
  • Provides a valuable reference for task planning in similar underwater unmanned systems.