2D Optimal Trajectory Planning Problem in Threat Environment for UUV with Non-Uniform Radiation Pattern

Path planning is necessary in many applications using unmanned underwater vehicles (UUVs). The main class of tasks is the planning of safe routes with minimal energy costs and/or minimal levels of emitted physical and information signals. Since the action planner is on board the UUV, the main focus is on methods and algorithms that allow it to build reference trajectories while minimizing the number of calculations. The study is devoted to the problem of the optimal route planning for a UUV with a non-uniform radiation pattern. The problem is stated in the form of two point variational problem for which necessary and sufficient optimality conditions are proved. Particular attention is paid to cases where optimality conditions are not met. These cases are directly related to found specific forms of a radiation pattern. Sufficient optimality conditions are extended on the class of two-link and multi-link motion paths. Software tools have been developed and computer simulations have been performed for various types of radiation patterns.