Cooperative UUVs Detection Task Scheduling Integrated with Underwater Acoustic Environments

Underwater acoustic environment has an impact on the acoustic-based target detection method. Target detection via cooperative UUVs is a way to overcome the deficiency. To make full use of the environmental information, the paper presents a task scheduling method integrated with underwater acoustic environments to improve the detection ability at the task level. The method contains two parts: the detection performance evaluation model and the task scheduling model. The evaluation model can evaluate the detection performance of UUVs. The task scheduling model provides the mathematical form of the problem. The cumulative detection probability and the energy are used to construct the cost function. The detection strategies are designed to satisfy different situations. The GA algorithm is adopted to solve the optimization problems. The simulations are carried out with real environmental data. The results show the proposed method improves the performance of the cooperative detection.