Optimal Acoustic Search Path Planning Based on Genetic Algorithm in Continuous Path System

The design of efficient search path to maximize the Cumulative Detection Probability(CDP) is mainly dependent on experience and intuition when the searcher detect the target using SONAR in the ocean. Recently with the advance of modeling and simulation methods, it has been possible to access the optimization problem more systematically. In this paper, a method for the optimal search path calculation is developed based on the combination of the genetic algorithm with detection algorithm. We consider the continuous system for search path, space, and time, and use the movement direction of the SONAR as a gene of the genetic algorithm. The developed algorithm, OASPP(Optimal Acoustic Search Path Planning), is shown to be effective, via a simulation, in finding the optimal search path for the case where the intuitive solution exists.