Research on path optimization of multibeam sonar measurement

This paper presents a comprehensive optimization approach for multi-beam bathymetry survey line planning in complex seabed environments. To address the challenges of varying coverage width due to seabed slope changes and maintaining appropriate overlap rates between adjacent survey lines, we first establish a mathematical model describing the relationships between survey line position and critical parameters, including water depth, coverage width, and overlap rate. The effect of survey line direction relative to the seabed slope normal is analyzed through geometric modeling. A novel optimization method combining linear programming with bounded depth-first search algorithm is proposed to determine the shortest survey path while maintaining overlap rates between 10% and 20%. The results demonstrate that our method achieves an efficient full coverage measurement with optimized survey line arrangement. Sensitivity analysis confirms the model's robustness under varying conditions. This work provides a systematic solution for multi-beam bathymetry survey planning and contributes to improving marine measurement efficiency.