{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T14:49:30Z","timestamp":1740149370629,"version":"3.37.3"},"reference-count":23,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2020,4,7]],"date-time":"2020-04-07T00:00:00Z","timestamp":1586217600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"The problem of optimal trajectory planning of the unmanned underwater vehicle (UUV) is considered and analytically solved. The task is to minimize the risk of detection of the moving object by a static sonar while moving between two given points on a plane. The detection is based on the primary acoustic field radiated by the object with a non-uniform radiation pattern. In the first part of the article, the probability of non-detection is derived. Further, it is used as an optimization criterion. The non-uniform radiation pattern of the object differentiates this work from previous research in the area. The optimal trajectory and velocity law of the moving object are found, as well as the criterion value on it.<\/jats:p>","DOI":"10.3390\/s20072076","type":"journal-article","created":{"date-parts":[[2020,4,8]],"date-time":"2020-04-08T09:59:47Z","timestamp":1586339987000},"page":"2076","source":"Crossref","is-referenced-by-count":6,"title":["Path Planning in Threat Environment for UUV with Non-Uniform Radiation Pattern"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6494-6880","authenticated-orcid":false,"given":"Andrey A.","family":"Galyaev","sequence":"first","affiliation":[{"name":"Institute of Control Sciences of RAS, Moscow 117997, Russia"}]},{"given":"Alexander V.","family":"Dobrovidov","sequence":"additional","affiliation":[{"name":"Institute of Control Sciences of RAS, Moscow 117997, Russia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2418-6802","authenticated-orcid":false,"given":"Pavel V.","family":"Lysenko","sequence":"additional","affiliation":[{"name":"Institute of Control Sciences of RAS, Moscow 117997, Russia"}]},{"given":"Mikhail E.","family":"Shaikin","sequence":"additional","affiliation":[{"name":"Institute of Control Sciences of RAS, Moscow 117997, Russia"}]},{"given":"Victor P.","family":"Yakhno","sequence":"additional","affiliation":[{"name":"Institute of Control Sciences of RAS, Moscow 117997, Russia"}]}],"member":"1968","published-online":{"date-parts":[[2020,4,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"560","DOI":"10.1134\/S1064230710040064","article-title":"Optimization of a mobile object evasion laws from detection","volume":"49","author":"Galyaev","year":"2010","journal-title":"J. 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Sensors, 17.","DOI":"10.3390\/s17071607"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Panda, M., Das, B., Subudhi, B., and Pati, B.B. (2020). A Comprehensive Review of Path Planning Algorithms for Autonomous Underwater Vehicles. Int. J. Autom. Comput.","DOI":"10.1007\/s11633-019-1204-9"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Ma, S., Wang, Y., Zou, N., and Liang, G. (2018). A Broadband Beamformer Suitable for UUV to Detect the Tones Radiated from Marine Vessels. Sensors, 18.","DOI":"10.3390\/s18092928"},{"key":"ref_15","first-page":"22","article-title":"On statistical risk funstional in a control problem for an object moving in a conflict environment","volume":"1","author":"Shaikin","year":"2011","journal-title":"J. Comput. Syst. Sci. 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