Stealth path planning for a high speed torpedo-shaped autonomous underwater vehicle to approach a target ship

Abstract

Let us consider a scenario where a high speed torpedo-shaped autonomous underwater vehicle (AUV) approaches a target ship. In an underwater environment, radio waves are easily dissipated. Thus, sound is the main energy transmitted from the AUV to the target ship. We plan the path of the AUV to reduce both the time required to meet the target ship and the AUV’s sound measured by the target. We consider a torpedo-shaped AUV equipped with backward propellers to move forward and fins for heading control. For this type of vehicle, there is an instantaneous maximum turn rate for its motion. In order to increase the safety of path, we plan the AUV’s path so that a sharp corner along the path is avoided. We verify the effectiveness of our stealth path planning method using MATLAB simulations.