Cooperative Deployment Planning of Underwater Unmanned Clusters Based on Hybrid Heuristic Algorithms

The unmanned underwater platform cluster is suitable for tasks such as marine environmental monitoring, offshore exploration, and military tactical reconnaissance. The performance of an unmanned underwater platform cluster for cooperative sensing depends on the deployment of unmanned platforms and the sensing performance of a single-platform. In this paper, a hybrid heuristic algorithm for cooperative deployment planning of underwater unmanned cluster is proposed and verified by establishing a single-platform detection probability model based on the Boolean model considering the fault tolerance radius. The simulation results show that the proposed algorithm can effectively improve the cooperative observation probability of the surveillance area, because the rapid signal fading of the single-platform detection probability model seriously affects the efficiency of cooperative detection. The optimal coverage rate can reach 79.55% under certain conditions.