In order to improve the cooperative detection performance of multi-UUV searching task in unknown waters, it is necessary to optimize the UUV formation. Firstly, the linear array with fast and convenient layout is selected as the optimal formation, and the Fermi model is adopted as the detection model considering that the detection probability varies with the detection distance. Secondly, the detection coverage and detection continuity are quantitatively transformed and the optimization function is obtained. Finally, the improved particle swarm optimization algorithm is used to optimize the objective function. The simulation results show that the UUV formation cooperative detection effect optimized by the improved particle swarm optimization algorithm is improved, which can provide technical support for multi-UUV cooperative detection formation optimization.
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Zhang et al. (2024) studied this question.
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