Multi-AUV Collaborative Operation Based on Time-Varying Navigation Map and Dynamic Grid Model

In a dynamic and complex environment, to improve the cooperative operation efficiency of multiple AUV groups, a bionic neural wave network (BNWN) algorithm, and a velocity vector synthesis (VVS) algorithm are proposed. A strategy of space decomposition and node space recursion is adopted to provide dynamic navigation maps for AUV monomers and to modularize the tasks. A closed boundary function is introduced to construct a dynamic grid model to autonomously avoid obstacles with multiple moving forms. The results of three sets of simulation experiments show that the number of changes in direction, the total path length, and the collision rate of AUV individuals are greatly reduced. These results prove that the proposed algorithm has high autonomy and strong adaptability.