Hybrid-Algorithm-Based Emergency Search and Rescue Method With AUV to Uncertain Environment in Internet of Underwater Things

A deep understanding of the particularity of underwater emergency search and rescue missions is of great significance for the development of Internet of Underwater Things (IoUT). In various domains related to IoUT, utilizing autonomous underwater vehicle (AUV) for autonomous search and rescue (SAR) missions has become an inevitable trend. Considering the particularrity of underwater emergency SAR mission, we proposed a hybrid-algorithm-based emergency search and rescue (HASAR) method for target search in uncertain environment. First, the improved IBoustrophedon-BINN algorithm is used to calculate global path in uncertain environment to obtain the target position. In addition, to ensure timeliness of SAR missions, an IACO algorithm is designed to replan the optimal energy consumption path to obtain identity of target. During the AUV tracking replanning path process, complex obstacles which include static and dynamic may be encountered. Therefore, the ISSA-IDWA algorithm with adaptive coefficient is utilized to obtain real-time path to avoid obstacles. Extensive simulation results and practical experiments verify the performance of proposed HASAR method.