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Article

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

Institute of Control Sciences of RAS, Moscow 117997, Russia
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Sensors 2020, 20(7), 2076; https://doi.org/10.3390/s20072076
Received: 16 March 2020 / Revised: 1 April 2020 / Accepted: 4 April 2020 / Published: 7 April 2020
(This article belongs to the Special Issue Autonomous Underwater Vehicle Navigation)
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. View Full-Text
Keywords: UUV path planning; non-detection probability; passive and active surveillance in the acoustic field; non-uniform radiation pattern UUV path planning; non-detection probability; passive and active surveillance in the acoustic field; non-uniform radiation pattern
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MDPI and ACS Style

Galyaev, A.A.; Dobrovidov, A.V.; Lysenko, P.V.; Shaikin, M.E.; Yakhno, V.P. Path Planning in Threat Environment for UUV with Non-Uniform Radiation Pattern. Sensors 2020, 20, 2076. https://doi.org/10.3390/s20072076

AMA Style

Galyaev AA, Dobrovidov AV, Lysenko PV, Shaikin ME, Yakhno VP. Path Planning in Threat Environment for UUV with Non-Uniform Radiation Pattern. Sensors. 2020; 20(7):2076. https://doi.org/10.3390/s20072076

Chicago/Turabian Style

Galyaev, Andrey A., Alexander V. Dobrovidov, Pavel V. Lysenko, Mikhail E. Shaikin, and Victor P. Yakhno 2020. "Path Planning in Threat Environment for UUV with Non-Uniform Radiation Pattern" Sensors 20, no. 7: 2076. https://doi.org/10.3390/s20072076

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