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Underwater Searching based on AUV - ASV Cooperation

This paper reports a dynamic heterogeneous IoUT (internet of underwater things) system that is in searching for multiple underwater targets. For the first time, we propose to have autonomous surface vehicles (ASVs) collaboratively get involved deeply in searching missions. Specifically, they work together with autonomous underwater vehicles (AUVs) to pin-point highly suspected areas, intensively scanning for potential targets. They can selectively deploy extra sensors on-demand to gather data for quickly confirming existence or absence of underwater targets. This effectively results in mitigating useless travels for AUVs, which considerably saves their energy and moving distance. In addition, highly dynamic ASVs may act as relaying stations to provide a radio alternative in some hops for AUV-to-AUV communications. As such, the searching mission is accelerated since radio channels greatly shorten communication latency. The alternative also effectively alleviates underwater communication burden among AUVs. We constructed the proposed strategy on the top of the well-known particle swarm optimization. Reported numerical results demonstrate its clear benefits with respect to time, energy and communication.