Path planning for sea vessel search using wideband sonar

The report addresses a real-time probabilistic algorithm of search with erroneous detection for the search for a static target while detection probabilities vary in time. As in the initial search and screening problems, the algorithm is applied for path planning of a vessel trawling a seabed by wideband sonar. However, we consider the search for relatively small objects, for which both probabilities of false positive (allocation of non-existing target) and false negative (non-finding of existing target) detections are greater than zero. The suggested algorithm is based on previously developed probabilistic search algorithms with errorless and erroneous detections, however it implements different probabilities updating. The performance the algorithm for wideband sonar is tested by comparative numerical simulations.