Target Search Algorithm for AUV Based on Real-Time Perception Maps in Unknown Environment

For the problem of AUV target searches in unknown underwater environments, a search algorithm for AUVs based on real-time perception map is proposed. Real-time maps, including existence probability uncertainty and pheromone maps their updating rules, are established. Attraction source status environmental information detected by The used to corner areas that high degree with low coverage around current location. At same time, release mechanism attraction revisiting pheromones established combining neural excitation network make gradient spread grid map. By setting up revenue function an decision-making method When finds suspected target, approaches target. path planning carried out through improved artificial potential field method. short-distance confirmation obstacle avoidance process realized. simulation results show has efficiency. Additionally, when exists area, quickly fast feasible.