Research on target search and location based on NSGA-II algorithm

This paper mainly uses NBPM model and NSGA-II algorithm to study target search and location. Firstly, in this paper, the neutral buoyancy point motion model is established, and the relationship between the average density ρ0 and the depth h is obtained, so as to obtain the isodensity surface where the neutral buoyancy point is located. The accurate position of the target is determined by kinematics equation and differential equation. To obtain more accurate positioning of targets, this paper selects a specific device ROV for search. Next, the search is achieved by establishing a path planning model (PP). This paper proposes to discretize the continuous probability function and the objective function and constraints. The constraint condition is p≥0.9 or the value of x, y cannot exceed the boundary value. After that, a multi-objective optimization problem is solved by NSGA-II algorithm. The objectives include: maximizing probability and minimizing time. Finally making a specific case, it is concluded that minimum time is 6279.1s and probability is 0.9. The model in this paper can be extended to multiple sea areas. Firstly, the trajectory of multiple targets is predicted by data, and then it is obtained by NSGA-II iteration. This study can obtain more accurate target positioning and more reasonable and efficient search routes.