Cooperative search algorithm For AUVs based on bio-inspired model

To deal with the cooperative search issue of AUVs (autonomous underwater vehicles) system, a bio-inspired model based strategy of cooperative search of AUVs is presented. First, bio-inspired neural network model is established, using this model to represents the AUV´s underwater environment, Each neuron in neural network corresponds to locations of the grid map. Then, AUV determines its position in the grid map, according to the status of the targets and the obstacles. Then, AUV calculates the activity value of surrounding neurons from the neural network. Next, find the maximum neural activity, and take the location of neuron as the next step in the search path to realize the independent search of AUVs. Simulation results show that the approach has the effectiveness and the fault tolerant capability.