Path Planning in Threat Environment for UUV with Non-Uniform Radiation Pattern

Abstract

The problem of optimal trajectory planning of the unmanned underwater vehicle (UUV) is considered and analytically solved. The task is to minimize the risk of detection of the moving object by a static sonar while moving between two given points on a plane. The detection is based on the primary acoustic field radiated by the object with a non-uniform radiation pattern. In the first part of the article, the probability of non-detection is derived. Further, it is used as an optimization criterion. The non-uniform radiation pattern of the object differentiates this work from previous research in the area. The optimal trajectory and velocity law of the moving object are found, as well as the criterion value on it.

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

“…The current article expands and continues research presented in the article [ 6 ]. The need for new research emerged from a computer modeling of optimal UUV routes, conducted by the authors of the article using software, specially developed for this purpose.…”

“…Recently, there has been interest in non-traditional criteria, such as increasing the covertness of movement (when moving in a threat environment, considering the map of potential threats). It has led to a new area of control problems known as “trajectory/path planning in the threat environment.” The threat environment is defined as a set of agents, called conflicting, that the controlled vehicle must avoid while performing its main task [ 1 , 2 , 3 , 4 , 5 , 6 ].…”

“…The UUV’s goal is an evasion from the detection by an observer (group of observers) located in a given area. This approach corresponds to the process of mobile vehicle detection based on an estimation of primary emitted physical signals [ 6 ]. Therefore statements of such problems are based on the estimation of physical signals emitted by the vehicle.…”

“…The present article deals with the problem of stealth intrusion of UUV into the protected area in the conditions of a network-centric counteraction of the opposite side, equipped by the means of the detection of UUV. Following the work in Reference [ 6 ], the signal emitted by a mobile vehicle has a non-uniform space pattern. The TP problem of UUV’s evasion from detection by stationary sonar system (SSS) is considered.…”

“…In the case of a passive mode of reception, the SSS detects UUV using a radiated signal generated by UUV’s motion [ 20 ]. An indicator of the success of the object’s stealth intrusion into the area is the integral risk of UUV detection on some assigned route [ 1 , 6 ]. When the TP problem is solved, the maximal UUV invisibility is achieved by choosing such trajectory and the law of velocity as time functions, which minimize the risk of detection.…”