2D Optimal Trajectory Planning Problem in Threat Environment for UUV with Non-Uniform Radiation Pattern.

Path planning is necessary in many applications using unmanned underwater vehicles (UUVs). The main class of tasks is the planning of safe routes with minimal energy costs and/or minimal levels of emitted physical and information signals. Since the action planner is on board the UUV, the main focus is on methods and algorithms that allow it to build reference trajectories while minimizing the number of calculations.

Path Planning in Threat Environment for UUV with Non-Uniform Radiation Pattern.

The problem of optimal trajectory planning of the unmanned underwater vehicle (UUV) is considered and analytically solved. The task is to minimize the risk of detection of the moving object by a static sonar while moving between two given points on a plane. The detection is based on the primary acoustic field radiated by the object with a non-uniform radiation pattern.