基于USBL的USV-AUV协同多目标路径规划OA

To address the problems of high susceptibility to interference,limited effective range,and insufficient collaborative stability in underwater communication within the context of unmanned surface vehicle(USV)-assisted multi-autonomous undersea vehicle(AUV)operations,this paper proposed a multi-objective collaborative path planning method for USV-AUV based on an ultra-short baseline(USBL)positioning system.By analyzing the working principle of USBL and the propagation characteristics of marine underwater acoustic signals,this paper constructed a stable communication range for collaborative operations by integrating the effective zone of USBL signals,the acoustic ray propagation boundary defined by ray acoustics theory,and the maximum operating distance calculated by the sonar equation.With the prerequisite of ensuring that the USV and AUVs are within the effective range of underwater acoustic communication,the paper established a multi-objective optimization model for USV-AUV collaborative path planning to further optimize path length,path smoothness,and USV-AUV communication performance.An improved collaborative optimization strategy that integrates the genetic algorithm(GA),particle swarm optimization(PSO)and teaching-learning-based optimization(TLBO)algorithm was employed for solution.Simulation experiments investigate the influence of parameters,such as communication distance and AUV operating depth,on the USV planned path.The results indicate that the proposed method can effectively enhance the stability and efficiency of collaborative operations between the USV and AUVs while satisfying USBL communication constraints,providing reliable support for multiple AUVs in executing complex marine missions.