Multi-USV System Cooperative Underwater Target Search Based on Reinforcement Learning and Probability Map

Table 1

Performance test.

Setup				Search performance
No. of test	No. of USVs	No. of targets	No. of obstacles	Search time	Search accuracy (%)	Collision rate (%)
Test 1	3	2	1	198	99.2	0.0
Test 2	4	2	1	180	99.3	0.0
Test 3	5	2	1	142	99.5	0.0
Test 4	5	3	2	155	99.5	0.0
Test 5	5	3	3	159	99.4	0.0
Test 6	5	3	4	166	99.5	0.2