Wake-Responsive AUV Guidance Assisted by Passive Sonar Measurements

Abstract

To make an Autonomous Underwater Vehicle (AUV) chase a moving target ship that generates wake, wake-responsive guidance can be used. This scenario is applicable to making an underwater torpedo pursue a moving target ship until hitting the target. The objective of our research is to make an AUV pursue a target ship assisted by passive sonar sensors as well as wake sensors. To track a maneuvering target without losing the target, the AUV applies both passive sonar sensors and two wake sensors. Two wake sensors are utilized to decide the turn direction of the AUV in zig-zag maneuvers. In practice, sharp maneuvers of the target can cause the AUV to exit the target’s wake abruptly. As the target ship’s wake is not detected by wake sensors and the AUV needs to search for the target ship, the AUV’s passive sonar measures the direction of sound generated from the target ship. Thereafter, the AUV chases the target ship until the target’s wake is detected again. As far as we know, our paper is novel in addressing wake-responsive AUV guidance assisted by passive sonar sensors. The effectiveness of the proposed guidance is verified using computer simulations.