Three-dimensional deployment strategy for a multi-BWBUG cooperative system at deep depths

This study investigates the issue of the three-dimensional deployment for blended-wing-body underwater gliders (BWBUGs) at deep depths. Initially, an underwater three-dimensional deployment optimisation model is formulated, considering factors such as the three-dimensional coverage ratio and the balance of node communication energy consumption. Subsequently, a sine-logistic chaos strategy with excellent ergodicity is proposed. Thereafter, the dynamic decision-assisted heuristic method (DDHM) is proposed based on the dynamic decision framework, sine-logistic chaos strategy, and opposition-based learning. The well-designed dynamic decision framework effectively avoids the premature convergence and local optimum of the algorithm. Additionally, the multi-objective variant of DDHM, referred to as MDDHM, is established utilising the archival mechanism. Lastly, the performance of the DDHM and MDDHM is evaluated by simulation experiments. Statistical analysis demonstrates that DDHM is highly effective for the underwater three-dimensional deployment of the multi-BWBUG cooperative system. Furthermore, its overall performance surpasses that of other comparative methods.