Multi-Autonomous Underwater Vehicle Full-Coverage Path-Planning Algorithm Based on Intuitive Fuzzy Decision-Making

Aiming at the difficulty of realizing full-coverage path planning in a multi-AUV collaborative search, a multi-AUV full-coverage path-planning algorithm based on intuitionistic fuzzy decision-making is proposed. First, the state space model of the search environment was constructed using the raster...

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Veröffentlicht in:Journal of marine science and engineering 2024-08, Vol.12 (8), p.1276
Hauptverfasser: Zhang, Xiaomeng, Hao, Xuewei, Zhang, Lichuan, Liu, Lu, Zhang, Shuo, Ren, Ranzhen
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Sprache:eng
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Zusammenfassung:Aiming at the difficulty of realizing full-coverage path planning in a multi-AUV collaborative search, a multi-AUV full-coverage path-planning algorithm based on intuitionistic fuzzy decision-making is proposed. First, the state space model of the search environment was constructed using the raster method to provide accurate environment change data for the AUV. Second, the full-coverage path-planning algorithm for the multi-AUV collaborative search was constructed using intuition-based fuzzy decision-making, and more uncertain underwater information was modeled using the intuition-based fuzzy decision algorithm. A priority strategy was used to avoid obstacles in the search area. Finally, the simulation experiment verified the proposed algorithm. The results demonstrate that the proposed algorithm can effectively realize full-coverage path planning of the search area, and the priority strategy can effectively reduce the generation of repeated paths.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12081276