Harbour protection: moving invasion target interception for multi-AUV based on prediction planning interception method.

In recent years, harbour security protection has received extensive attention. For the moving invasion target interception problem in the underwater environment with ocean current, a new interception algorithm with multiple autonomous underwater vehicles (multi-AUV) called prediction planning interception (PPI) method is proposed in this paper. First, the interception position is determined quickly and simply through the movement tracking of target, and then the intercept path of each AUV in the environment is planned by the artificial potential field method. When the target is intercepted by any AUV, it is considered a successful interception. The AUV can rapidly intercept the moving target whose trajectory is dynamically changing along relatively short path in the changeable and complicated underwater environment by PPI method. The simulation results show that the interception efficiency of the prediction planning interception method is greatly improved compared with the traditional tracking interception method under different conditions. • The first time underwater interception with multi-AUVs for harbour protection. • The interception efficiency is greatly improved compared with traditional approach. • It is both applicable when the AUV velocity is equal or greater than moving target. [ABSTRACT FROM AUTHOR]