Underwater Robot Terrain Modeling Search and Rescue Algorithm
Hua Tian, Xueyu An, Binghang Wu, Haowei Bian · 2024
Solving the safety issues of underwater robot disconnection caused by loss of communication with the main ship or potential mechanical issues has become particularly important in today’s increasingly common era of underwater tourism. Firstly, we used ArcGIS software to conduct geographic modeling based on the real data of the Ionian Sea on Earth, which served as the data support for building the model. Establishing a realistic geographic model. Secondly, after analyzing the data of the Ionian Sea, we selected four important factors to improve the comprehensiveness of geographic modeling. We used some more advanced formula algorithms to calculate the required parameters of the model more accurately, and adopted the latest TEOS-10 [2] seawater thermodynamic equation as theoretical support to improve the accuracy of the model. Finally, we used the Kalman filtering algorithm to predict and calculate the actual position of the underwater robot in the Ionian Sea, and achieved a certain degree of accuracy to ensure the success rate of the search. And on the basis of mature models, Monte Carlo algorithm was applied to improve rescue efficiency, save rescue costs, and achieve the expected goals.