Optimization of the object movement path on the probabilistic criterion in the mode of passive sonar in an anisotropic medium

The problem of an object route selection and a velocity profile in an anisotropic three dimensional medium of propagation is investigated. The object moves in a threatening environment when some observers located in preset area try to detect it. In this work the probability of object undetection through the whole route by any of the observers is selected as a performance of the object routing. The discrete optimization method of this performance founded on the dynamic programming principle is proposed provided that object movement time is restricted by known limit.