An Autonomous Underwater Helicopter (AUH) is a disk-shaped, multi-propelled Autonomous Underwater Vehicle (AUV), which is intended to work autonomously in underwater environments. The near-bottom area sweep in unknown environments is a typical application scenario, in which the complete coverage path planning (CCPP) is essential for AUH. A complete coverage path planning approach for AUH with a single beam echo sounder, including the initial path planning and online local collision avoidance strategy, is proposed. First, the initial path is planned using boustrophedon motion. Based on its mobility, a multi-dimensional obstacle sensing method is designed with a single beam range sonar mounted on the AUH. The VFH+ algorithm is configured for the heading decision-making procedure before encountering obstacles, based on their range information at a fixed position. The online local obstacle avoidance procedure is simulated and analyzed with variations of the desired heading direction and corresponding polar histograms. Finally, several simulation cases are set up, simulated and compared by analyzing the heading decision in front of different obstacle situations. The simulation results demonstrate the feasibility of the complete coverage path planning approach proposed, which proves that AUH completing a full coverage area sweep in unknown environments with a single beam sonar is viable.

Trapped modes that exist in the waveguide have different engineering applications. Excited acoustic modes are due to the interaction between acoustic and flow fields. To further study the influence of nonpotential flow on trapped modes for a two-dimensional cavity–duct system, a numerical simulation method that combines the finite-element method (FEM) associated with a mixed formulation of the Galbrun equation and computational fluid dynamics (CFD) is proposed. The calculation model is composed of a two-dimensional waveguide with cavities and perfectly matched layers (PMLs) to limit the computational domain. The effects of the Mach number and different cavity lengths on the resonance modes are investigated.

A study concerning the influence of flow on the Herschel–Quincke duct is presented here, which includes the numerical model, the acoustic source and the absorption condition called the Perfectly Matched Layer. For the excitation of a sound field, a normal mode wave is placed at the inlet of the tube. The function of PML is to simulate the infinite tube and avoid the reflection of acoustic wave. To investigate the influence of flow field on sound field, a coupled calculation method combining the finite element method and computational fluid dynamics is used to solve the linearized Euler equation, named the Galbrun equation. Firstly, the influence of the cross-section of the tube on the acoustic field is considered. Secondly, the effects of flow on the acoustic field is also investigated. Lastly, a comparative analysis of the simulation results reveals the influence of flow and other parameters of the tube on sound propagation. Both the Mach number and the cross-section ratio have an influence on the acoustic resonance, and the resonance frequency decreases with the increase in the cross-section ratio.