Research on On-Call Searching Submarine Effectiveness of Anti-submarine Helicopter based on Passive Sonobuoy

Convert path planning for underwater vehicle based on sonar detection probability

“…The first one is the most widely used method, which models the enemy sonar detection range as cylindrical, spherical or conical, then treats them in the same way as other environmental obstacles [1]. That is, this method tries to avoid these areas during path planning.…”

“…Each grid needs to be saved to the pheromone concentration of 26 adjacent grids, corresponding to 26 different path options. The prime JCRAI-2022 Journal of Physics: Conference Series 2506 (2023) 012011 concentration is denoted as τ ij (1). The initial pheromone is unevenly distributed, and the concentration of the pheromone on the line connecting the starting point to the end point is strengthened and decreased outward, and is corrected by the sonar detection probability.…”