Research On Collaborative Area Search Strategy For Multiple Unmanned Surface Vehicles

In recent years,with the rise of artificial intelligence technology,the application of unmanned intelligent systems has achieved rapid progress and development.In the field of surface unmanned vehicles,relevant research institutions at home and abroad have carried out research on multi-unmanned vehicle synergy technology.The Multiple Unmanned Surface Vehicle(MUSV)can effectively overcome the limitations of the platform function due to the sensor detection capability of the single vehicle and the number of devices,and improve the efficiency and scope of regional collaborative search.In this thesis,the research on multi-unmanned collaborative area search problem is carried out,and the multi-surface unmanned aerial vehicle collaborative search strategy considering the probability of underwater acoustic equipment detection is studied.The algorithm verification principle prototype system is designed and implemented,and the simulation and field test are carried out.The effectiveness of the method was verified.Specifically,the main research work of the thesis is as follows:(1)For the area coverage search problem of multiple unmanned surface vehicles,the research on the path planning method of unmanned aerial vehicles considering the probability of sensor detection is carried out.The multiple unmanned vehicle coordination system framework and coverage evaluation method for adapting to the environment and task changes are designed.The research on multiple unmanned vehicle cooperative collision avoidance algorithm is carried out for the research content.(2)Aiming at the requirements of collaborative search task algorithm verification,a multiple unmanned surface vehicles prototype system was designed and built,and a flexible information interaction scheme between unmanned vehicle systems was realized.The design of multi-unmanned vehicle centralized control architecture was completed and implementation.(3)A multiple unmanned surface vehicles simulation system is established,and the real-time detection information of sensors is used to establish the environment description rules of multi-unmanned vehicle collaborative search.A grid environment map model based on probability update is constructed,and the search task is reflected by searching the probability map.In the situation,the simulation experiments under typical operating scenarios were carried out to verify the feasibility and effectiveness of the research methods.(4)A series of external field search experiments were designed.The performance test of unmanned vehicle platform and the path planning system test of single boat and multi-vehicle are carried out,which verifies the effectiveness of the regional search algorithm and the availability of the test system.