An Improved DSA-Based Approach for Multi-AUV Cooperative Search

Table 3

Parameters of the proposed method and the simulation experiments.

Search method	Length of path (m)	Total steps	Total time (s)	Computation efficiency
I-DSA	544.80	110	12.506	0.113
G-DSA	617.12	130	18.287	0.141
PSO	703.14	128	19.143	0.150