Monte-Carlo Method-Based Collaborative Detection of Underwater Targets by Multiple Air-Water Amphibious Robots
Shuchang Bai, Lichuan Zhang, Lu Liu, Qiaoqiao Zhao, Zixiao Zhu, Wenlong Geng, Chen Zhang, Ziyang Chen · 2023
Aiming at the problem of emergency detection and search in national marine related professional fields, a Monte-Carlo method based multiple Air-Water Amphibious Robots collaborative detection method for underwater targets is studied in this paper. Firstly, a multiple Air-Water Amphibious Robots cooperative detection formation was established, and the overlapping shadow areas of different arrays were explored, and conditions were set for the search area and the Air-Water Amphibious Robots cooperative detection formation. After simulation research, parameters of each multiple Air-Water Amphibious Robots were selected and assigned, and then a set of simulation process was designed to solve the problem. Finally, the proposed method is used to simulate the relationship between detection probability and search time for 8 formations. Through the analysis of simulation results, it is concluded that the corresponding formation can be adopted to detect and track different tasks and different stages of tasks to achieve the best detection effect.