To address the problems of unreasonable task allocation and low target search efficiency in the collaborative search of multiple unmanned undersea vehicles (UUVs) in complex marine environments, this paper proposes a search-information-driven collaborative task planning method for multi-UUV systems, and constructs a systematic and integrated multi-UUV collaborative task planning framework. Considering the spatial characteristics of the complex underwater environment and sonar detection rules, an underwater task environment grid model and an active sonar instantaneous detection model are constructed as the environmental and detection foundation of the framework. Within the framework, the Gaussian Mixture Model (GMM) is adopted to realize dynamic division of task regions, and reasonable resource allocation among multiple UUVs is achieved by defining scientific area allocation indicators. A search information map consisting of target probability distribution and environmental uncertainty is established, and a receding horizon planning framework is introduced to balance short-term detection effectiveness and long-term search value. Furthermore, a motion-coded Grey Wolf Optimization (GWO) algorithm is proposed to generate continuous UUV paths, which avoids path discontinuity caused by discrete grids and ensures the convergence efficiency of the algorithm. Simulation results verify that compared with traditional methods, the proposed method improves the total probability benefit by 19.87% and the number of discovered targets by 18.29%, demonstrating better search performance and environmental adaptability.
Chang et al. (Thu,) studied this question.