Method of on-call submarine searching for surface ship formation based on hidden Markov model Bian Dapeng，Yu Shanshan，Zhang Shi

Bian Dapeng1，Yu Shanshan*2，Zhang Shi2，Yu Minghui2，Wang Yun3 1 Wuhan Second Military Representative Office，Naval Armament Department of PLAN，Wuhan 430064，China 2 School of Automation，Huazhong University of Science and Technology，Wuhan 430074，China 3 China Ship Development and Design Center，Wuhan 430064，China Abstract：［Objectives］In order to improve the successful probability of searching for target submarines and to make the operation of the surface ship formation more effectively，the problem about the path planning for the on-call submarine searching for ships is studied. ［Methods］ Firstly， an on-call submarine searching model of surface ships was constructed based on the Hidden Markov Model（HMM）. A two-stage heuristic method was designed to maximize the probability of searching for submarine search expectation. The problem of local optimum was avoided by using evolutionary algorithm（EA）to cross and mutate the individuals in the population，and a comparison with conventional searching methods was made. Then，the effects of different segmentation methods on path optimization were studied experimentally. ［Results］ The simulation results of single-ship and multi-ship searching for submarines show that the method adopted in this paper can obtain the maximum submarine search expectation and the optimal searching path. The segmentation times experiment show that a reasonable re-division of the search area is beneficial to find a better searching path. ［Conclusions］ This model can find an optimal path for submarine search and improve the searching efficiency of the surface ship formation. Key words：Hidden Markov Model（HMM）；on-call submarine searching；evolutionary algorithm（EA）； path optimization