A Cooperative Hunting Method for Multi-AUV Swarm in Underwater Weak Information Environment with Obstacles

Cooperative hunting is a typical task that reflects the intelligence level of swarm. For complex underwater weak information environment with obstacles, problem description multi-autonomous vehicle (AUV) cooperative given, considering influencing factors, including AUV sensing interaction range, and target escape strategy. A hybrid adaptive preference method based on improved artificial potential fields (HAP-IAPF) proposed. Then strategies obstacle avoidance are designed separately according to requirements. The weight control unit used adjust multi-AUV in dynamic environments under weakly connected conditions achieved. In order prove effectiveness proposed algorithm, simulation results compared traditional field optimized given this paper. show robust effective different environments.