A survey of underwater search for multi-target using Multi-AUV: Task allocation, path planning, and formation control. (15th June 2023)

• Record Type: Journal Article
• Authors: Wang, Linling; Zhu, Daqi; Pang, Wen; Zhang, Youmin
• Is Part Of: Ocean engineering. Volume 278(2023)
• Publication Date: 2023-06-15
• Subjects: Autonomous underwater vehicle (AUV) -- Underwater search -- Task allocation -- Path planning -- Formation control; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2023.114393
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: There are significant advantages using the autonomous underwater vehicle (AUV) for underwater search. Compared with a single AUV, multi-AUV offers greater efficiency and better stability in underwater search. At the same time, the theoretical and technical level of autonomous navigation and cooperative control of multi-AUV formation is the key to the implementation of the underwater search task. The following key factors are worth discussing in the application of multi-AUV in underwater search: task allocation, path planning, and formation control. The purpose of this paper is to grasp the application and development trend of multi-AUV formation in underwater search, so as to summarize the past, present, and future research and development trends of this investigation field in detail. Highlights: To the best of authors' knowledge, this is the first systematic and comprehensive survey of multi-AUV underwater search, and is intended to assist research and development of multi-AUV underwater search applications. Several aspects of task allocation, path planning, and formation control are considered and reviewed. The strengths, weaknesses, limitations, and challenges of the respective algorithms of the above techniques are explicitly discussed, to gain a deeper understanding of how multi-AUV multi-target search is conducted. The opportunities and challenges of this research are listed based on the purpose of using multi-AUV underwater multi-target search.