In this paper, we investigate the coverage path planning (CPP) scheme for autonomous underwater vehicles (AUVs) cooperative environment detection in integrated underwater acoustic communication and detection networks (UCDNs), where multiple AUVs detect unexplored oceanic environments and avoid obstacles. Firstly, we present the detection range prediction model related to oceanic environmental parameters and propose the detection and communication scheme in UCDNs. Secondly, to conduct the cooperative environment detection mission, we formulate the CPP problem as a mixed combinatorial and sequential quadratic optimization problem to maximize the coverage ratio and minimize the path length of AUVs. To solve this problem, we investigate the multi-agent proximal policy optimization (MAPPO)-based CPP scheme. In specific, the CPP problem is modeled as a partially observable Markov decision process (POMDP). Since the path planning of the AUVs is not only related to the local information but also the other AUVs' information, the information should be shared among AUVs based on the UCDNs. Furthermore, we introduce the MAPPO-based algorithm under the centralized training with decentralized execution (CTDE) architecture. Extensive simulations are carried out to demonstrate the strength of the proposed scheme.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Coverage Path Planning for AUVs Cooperative Environment Detection in Integrated Underwater Acoustic Communication and Detection Networks


    Contributors:
    Wu, Yike (author) / Zhuo, Xiaoxiao (author) / Tang, Liang (author) / Qu, Fengzhong (author) / Zhao, Yu (author) / Bu, Zhiyong (author)


    Publication date :

    2024-06-24


    Size :

    9066490 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Improved underwater acoustic communication for AUVs

    Fiorillo, M. / Izra, J. / Ekhaus, I. | Tema Archive | 1990


    Underwater acoustic telemetry for AUVs

    Hinton, O. | IET Digital Library Archive | 1996



    Real-time target detection using acoustic sensors on AUVs

    Liu, Te-Chih / Schmidt, Henrik | Tema Archive | 2005


    AUVS' Dynamics Modeling, Position Control, and Path Planning Using Neural Networks

    Sayyaadi, H. / Ura, T. / International Federation of Automatic Control | British Library Conference Proceedings | 2002