A kind of effectiveness of searching submarine for multiple Autonomous Underwater Vehicle cooperative systems

In this paper, according to the characteristics of multi-monomer cooperative systems, Perron-Fronbenius eigenvalue is used as the cooperative capacity index of multi-AUV (multiple Autonomous Underwater Vehicle) cooperative system, and an algorithm for calculating the cooperative capacity of multi-AUV cooperative system is proposed. Then on this basis, the calculation method for the effectiveness of multi-AUV cooperative system is proposed. Combined with the searching submarine task of multi-AUV cooperative system, the Monte Carlo simulation method was used to calculate the effectiveness of searching submarine for multi-AUV cooperative system. The result shows that searching submarine effectiveness of passive sonar is more affected by noise level than that of active sonar. Compared with the effectiveness of searching submarine for multi-AUV non-cooperative system, it is concluded that the searching submarine effectiveness of multi-AUV cooperative system is higher than that of multi-AUV non-cooperative system. At the same time, according to the analysis of the searching submarine effectiveness of different V-type formations, it is found that the smaller the formation angle, the higher the effectiveness of searching submarine.