Research on USV path planning for assisted multi-AUVs navigation

MI Yanlong; YANG Huizhen; GUO Tianyang

doi:10.11993/j.issn.2096-3920.2025-0113

Article Contents

Article Navigation > Journal of Unmanned Undersea Systems > 2026 > Accepted Manuscript

MI Yanlong, YANG Huizhen, GUO Tianyang. Research on USV path planning for assisted multi-AUVs navigation[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0113

Citation:

MI Yanlong, YANG Huizhen, GUO Tianyang. Research on USV path planning for assisted multi-AUVs navigation[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0113

MI Yanlong, YANG Huizhen, GUO Tianyang. Research on USV path planning for assisted multi-AUVs navigation[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0113

Citation:

MI Yanlong, YANG Huizhen, GUO Tianyang. Research on USV path planning for assisted multi-AUVs navigation[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2025-0113

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Research on USV path planning for assisted multi-AUVs navigation

doi: 10.11993/j.issn.2096-3920.2025-0113

MI Yanlong^{1, 2},
YANG Huizhen^{1, 2
,},
GUO Tianyang^{1, 2}

1.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
2.
Underwater Information and Control Laboratory, Xi’an 710072, China

Received Date: 2025-08-25
Accepted Date: 2025-09-26
Rev Recd Date: 2025-09-14

Available Online: 2026-01-19

Abstract

Abstract

In the context of USV-assisted multi-AUVs operations, this paper proposes a multi-objective collaborative path planning method for USV-AUVs systems based on the Ultra-Short Baseline Locating System (USBL). The working principle of the USBL is analysed, and combined with the acoustic signal propagation characteristics in marine environments, the stable communication range for collaborative operations is defined by the effective zone of the USBL signal, the acoustic ray propagation boundary defined by ray acoustics theory, and the maximum effective range calculated using the sonar equation. While ensuring that the USV and AUV remain within the effective range of acoustic communication, the method further optimises path length, path smoothness, and communication performance between the USV and AUV. A multi-objective optimisation model for USV-AUVs collaborative path planning is established, and an improved genetic algorithm is used to solve it. Simulation experiments are conducted to investigate the influence of parameters such as communication distance and AUV operational depth on the USV planning path. The results indicate that the proposed method can effectively enhance the stability of USV-AUVs collaborative operations while satisfying USBL communication constraints, providing a reliable foundation for multiple AUVs to execute complex marine missions.
- USV-AUVs collaboration,
- ultra-short baseline locating system,
- path planning

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References(24)

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