UUV攻防博弈的自适应攻击占位机动决策研究
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哈尔滨工程大学 智能科学与工程学院,哈尔滨 150001

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E-mail: cctime99@163.com.

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N94;TP13

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国家科技创新特区项目(21-163-05-ZT-002-005-03);水下机器人技术国家重点实验室基金项目(JCKYS2022SXJQR-09);高水平科学研究引导计划项目(3072022QBZ0403).


Adaptive attack occupancy maneuver decision of UUV attack-defense game
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College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China

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    摘要:

    针对攻防博弈中无人潜航器(unmanned underwater vehicle,UUV)的占位机动决策问题,现有方法存在研究不充分、不全面、无法解决实际占位攻击决策的问题,通过研究并建立攻击占位机动的数学模型,提出采用向量法分析UUV极限射程圆和UUV可攻区域,首次给出占位可攻判定规则,并全面分析不同速度条件下,有无障碍物条件下的最短时间攻击占位机动决策求解方法.针对UUV占位机动决策中目标运动状态变化的问题,提出一种参数自适应的攻击占位机动决策方法,该决策方法能够自适应目标位置、艏向、速度参数的变化,自主选择最近可达阵位点,并求解到达该最近可达阵位点的机动参数.通过仿真验证占位可攻判断规则以及占位机动决策求解方法的有效性、高效性,以及所提出方法在动态攻防博弈下的参数自适应性.

    Abstract:

    The existing methods for the decision-making of unmanned underwater vehicle (UUV) occupancy in attack-defense games are found to be insufficient and incomplete in addressing practical occupancy attack problems. This study analyzes and establishes a mathematical model for attack occupancy maneuvers, proposes the use of vector analysis to determine the UUV's maximum range circle and the attackable area, develops the concept of occupancy determination rules, and comprehensively analyzes the methods for solving the shortest time attack occupancy maneuvers under different speed conditions with or without obstacles. Additionally, a parameter-adaptive occupancy maneuver decision-making method is proposed to address the issue of target motion state changes. This decision-making method can adapt to the changes in the target's position, heading, and speed parameters, autonomously select the nearest reachable occupancy point, and solve for the maneuver parameters to reach that point. Simulation results validate the effectiveness and efficiency of the occupancy attack determination rules and the maneuver decision-making methods, as well as the parameter adaptability of the proposed approach in dynamic attack-defense games.

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王钊,王宏健,张宏瀚,等. UUV攻防博弈的自适应攻击占位机动决策研究[J].控制与决策,2024,39(11):3819-3828

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  • 在线发布日期: 2024-09-20
  • 出版日期: 2024-11-20
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