Formation Evaluation of Multi-AUV System for Deep-Sea Hydrothermal Plume Exploration

This paper proposes an index system for the formation performance evaluation of multiple autonomous underwater vehicles (multi-AUV) in deep-sea hydrothermal plume exploration. Firstly the formation evaluation criteria and the essentiality of the application of analytic hierarchy process (AHP) and Fuzzy comprehensive evaluation method (Fuzzy-AHP method) are introduced. Then the index system is established based on AHP method and a judgment matrix is constructed, and the weight of each index is calculated as well with the help of AHP method. Thirdly we present the normalized model of the evaluation index, analyze the fuzzy comprehensive evaluation model. At last we debate the method to calculate the membership matrix in detail and illustrate the application of the Fuzzy-AHP method in the formation performance evaluation of multi-AUV system in deep-sea hydrothermal plume exploration.