Target Distribution based High-speed UUV Underwater Searching Trajectory Planning Method

High-speed Unmanned Underwater Vehicle (UUV) needs precise target information to complete the mission, but the target information is not always continuous or with high-level accuracy. To promote the efficiency of underwater attack missions, different from traditional fixed-graph searching trajectory or waypoint path planning, this paper proposes a target distribution based fast searching trajectory planning method to provide high-speed UUV with both fast planning ability and intelligent searching ability. First, the characteristic of the moving target is modeled into its position distribution with respect to time, which provides a feedback signal to the fast planning method. A parameterized graph searching trajectory is developed and optimized by particle swarm optimization, which maintains the expert knowledge in particular graph searching trajectory and the lightweighted intelligent optimization in a small number of parameters. Finally, the experiment on the target search mission with only initial target information validates the effectiveness of this planning scheme.