A multi-AUV hunting algorithm with ocean current effect

Abstract

Multi-AUV hunting problem has been one of the focusing issues in the multi-robot system research. For the coordination problem between AUVs and ocean current influence in the process of AUV collaboration hunting and in order to hunt the target efficiently, a novel multi-AUV hunting algorithm is proposed in this paper. Firstly, the multi-AUV hunting algorithm based on the bio-inspired neural network is introduced, and the hunting AUVs' paths are guided through bio-inspired neural network. Secondly, ocean current influence for the hunting path is analyzed, and a direction decision-making mechanism is proposed to improve the hunting efficiency. These two important issues are included to make a better solution for multi-AUV hunting. Finally, the simulation results show that the algorithm used in the paper can provide a rapid and high efficient hunting process with obstacles.