Convert path planning for underwater vehicle based on sonar detection probability

Abstract Underwater vehicle is essential for many tasks such as underwater exploration, equipment deployment and covert reconnaissance. Many missions must be carried out with stealth to avoid being detected by enemy sonars, safety security are required in high-risk situations. In this paper, a path planning algorithm proposed based on the sonar detection probability analysis. First performance prediction model constructed parameters, marine environment acoustic properties. Afterwards an improved ant colony established minimizing cumulative probability. The evaluation indicate that optimal obtained effective reducing