2024
DOI: 10.1109/taes.2024.3400923
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PSE-D Model-Based Cooperative Path Planning for UAV and USV Systems in Antisubmarine Search Missions

Ning Wang,
Xiaolong Liang,
Zhe Li
et al.

Abstract: Unmanned aerial vehicles (UAVs) have numerous applications in reconnaissance, search, and rescue missions. However, searching underwater areas remains a challenge for UAVs. For anti-submarine search tasks, this paper proposes using a mixed swarm of UAVs and unmanned surface vehicles (USVs). To generate vehicle paths with the goal of minimizing the travel time while achieving complete coverage, a two-phase strategy is developed. In the first phase, optimal waypoints are determined to balance the task volume amo… Show more

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