Analysis of Multi-searcher Spiral Searching Pattern for Underwater Targets

It is necessary to estimate the speed of the target accurately when a single searcher searches the target with constant speed by spiral path, and the search efficiency is low. The patterns of co-directional searching and symmetric searching based on two searchers are analyzed separately, and a group collaborative searching pattern based on multi-searchers is proposed by combining the two kinds of search patterns. Monte Carlo simulation is used to verify the proposed searching pattern. The simulation results show that the multisearcher group cooperative searching pattern improves the searching probability and efficiency obviously compared with those of the traditional single searcher pattern when there is deviation existing in the target speed , and the simulation results verify the theoretical analysis of the scheme.