This paper addresses the aperture limitation problem faced by array-equipped underwater gliders (UGs) in direction-of-arrival (DOA) estimation. A passive synthetic aperture (PSA) method for DOA estimation using a single hydrophone mounted on a UG is proposed. This method uses the motion of the UG to synthesize a linear array whose elements are positioned to acquire the target signal, thereby increasing the array aperture. The...

As an emerging direction of multi-agent collaborative control technology, multiple autonomous underwater vehicle (multi-AUV) cooperative area search technology has played an important role in civilian fields such as marine resource exploration and development, marine rescue, and marine scientific expeditions, as well as in military fields such as mine countermeasures and military underwater reconnaissance. At present, as we co...

This paper proposes a fusion algorithm based on state-tracking collision detection and the simulated annealing potential field (SCD-SAPF) to address the challenges of obstacle avoidance for autonomous underwater vehicles (AUVs) in dynamic environments. Navigating AUVs in complex underwater environments requires robust autonomous obstacle avoidance capabilities. The SCD-SAPF algorithm aims to accurately assess collision risks a...