Research On Target Searching And Tracking Method With Multi-UUV For Reef Monitoring

In recent years,monitoring for areas around reef becomes a problem to be solved along with dispute in marine.UUV(Unmanned Underwater Vehicle)as a new type of underwater equipment with good controllability,long battery life,great carrying ability is a kind of important means to solve this problem.In order to solve the problem of target searching and tracking with multi-UUV for reef monitoring,this paper mainly studies on multi-UUV cooperative target searching algorithm,UUV moving target estimation and tracking guidance method,multi-UUV reef monitoring strategy,etc.The main research contents are as follows:Firstly,analyze the problem multi-UUV cooperative reef monitoring,and develop the monitoring strategy.And build models for factors involved in the research,including nearly reef task region model,kinematic model of UUV,forward-looking sonar detection model and enemy target motion model.Besides,analyze the function of information interaction between the UUVs.Secondly,define and analyze the multi-UUV cooperative target searching problem,and propose an improved particle swarm algorithm for the multi-UUV cooperative target searching.The basic probability map model is improved with introduced the occupied information of UUV.Based on this,establish a reasonable optimization function of cooperative target searching.And set UUV state space model.Based on the rolling optimization online solution,the predictive control is introduced,traditional particle swarm algorithm is improved to realize multi-UUV cooperative target searching.The simulation shows that the proposed improved algorithm has better target search effect in the complex environment,and has different patrol frequency for regions with different properties.Then,in view of the complex characteristics of target motion tracking problems,study on the state estimation method of moving target with fusion model based on IMM-UKF.Then put forward the improved IMM algorithm that can realize the adaptive selection of model sets.With the estimation of the enemy target movement,the guidance strategy for UUV tracking moving target is developed based on line-of-sight guidance,so that UUV can keep following the target.The simulation results show that the proposed target state estimation method and tracking guidance strategy are reasonable and feasible.Finally,based on the GUI design of Matlab,complete the multi-UUV reef monitoring simulation system.Three sub-modules including cooperative search,target tracking and monitoring strategy are encapsulated,and the research contents of this paper can all be simulated directly by setting relevant parameters in this system.A systematic verification of the proposed method in this paper is presented by designing different simulation cases.