[2] [2] VERMEULEN J F,BRINK V D M.The search for an alerted moving target［J］.The Journal of the Operational Research Society,2005,56(5):514-525.

[7] [7] BEN Y R.Anti-submarine warfare search models［D］.Monterey:Naval Postgraduate School,2016.

[8] [8] YOASH R B,ATKINSON M P,KRESS M.Where to dip? Search pattern for an anti-submarine helicopter using a dipping sonar［J］.Military Operations Research,2018,23(2):19-39.

[10] [10] FLETCHER B.UUV master plan:a vision for navy UUV development［C］//OCEANS 2000 MTS/IEEE Conference and Exhibition.Providence:IEEE,2000:65-71.

[11] [11] KIM J Y，KIM Y，CHOI H S I K，et a1．Dynamic modeling and structural analysis of Manta-type UUV［J］．International Journal of Modern Physics B，2011，25(8)：4319-4329．

[13] [13] DING W J,CAO H,GUO H,et al.Investigation on optimal path for submarine search by an unmanned underwater vehicle［J］.Computers & Electrical Engineering, 2019,79:203702141.

[14] [14] DING W J,CAO H,WU H,et al.Optimal anti-submarine search path for UUV via an adaptive genetic algorithm［C］//International Conference on Intelligent Robotics and Applications.Cham:Springer,2019:472-479.

[17] [17] JIA Q Y,XU H L,FENG X S,et al.Research on cooperative area search of multiple underwater robots based on the prediction of initial target information［J］.Ocean Engineering,2019,172:660-670.