High-Precision Underwater Acoustic Localization of the Black Box Utilizing an Autonomous Underwater Vehicle Based on the Improved Artificial Potential Field

Underwater acoustic localization (UWAL) of the black box for a sunken airplane utilizing an autonomous underwater vehicle (AUV) is a useful technique in ensuring traffic safety. Aiming at improving localization precision, this article proposes a new path-planning algorithm based on the improved artificial potential field (APF). Compared with the conventional APF, we modify the conventional gravitation force and introduce a new localization precision force. Therefore, a balance between localization precision and obstacle avoidance is achieved, and the localization precision is significantly improved. The lake trial result validates the effectiveness of the proposed method.