Research On Multi-UUV Closing Target Path Planning And Space-Occupying Method

With the continuous improvement of concealment and maneuverability of Unmanned Underwater Vehicle(UUV),multi-UUV are playing a more and more important role in the seabed operation with complex environment and varied tasks.The problem of multi-UUV cooperative surround is the core technology in the cooperative operation of multi-UUV systems.The research focus of this paper is to adopt different closing strategies to achieve the goal of different speed and performance.The main research content are as follows:Firstly,for the mission background of multi-UUV hunting underwater target,it is necessary to obtain the motion elements of underwater target and prepare for multi-UUV hunting.According to the requirements of the encirclement task,the architecture of multi-UUV cooperative encirclement target is introduced,the composition of UUV object is introduced,and the load used for underwater target detection is analyzed emphatically.In order to estimate the motion factors of underwater target,the mathematical models of underwater stationary target,underwater uniform linear motion and underwater variable speed moving target are established,and the observability of underwater moving target is analyzed through the system equation and observation equation.Secondly,the feasibility of multi-UUV blocking target is studied and the binding conditions of multi-UUV blocking are obtained.By studying the control range of single UUV on the target,the restricted area of single UUV on the target is obtained.It is extended to the analysis of the restricted area of the target by multi-UUV.When the speed performance of UUV is lower than the target,the speed ratio between UUV and the target is greater than sin ?/ N,(where N is the number of participating in the closing UUV).Before the target escapes,it is located in the convex polygon composed of UUV,and the adjacent Apollonian circle formed by UUV is tangent to or intersects with the target in two,so as to theoretically achieve closure.Thirdly,in view of the multi-UUV closing against the low-speed dynamic target,the multi-UUV tracking partner is adopted to suppress the target’s task closing strategy.Considering that it is necessary to keep the maximum possible detection coverage of the target in the closing process,the PSO algorithm is used to solve the multi-UUV optimal closing occupied array points,and the minimum pole Angle distribution principle is used to allocate the occupied array points.According to the multi-UUV closing target formation,the pilot-follow formation control structure is established,and the kinematics controller based on the error of the target tracking state information is designed.The effectiveness of the controller is verified by Lyapunov and the effectiveness of the target tracking controller is verified by matlab.Finally,the multi-UUV ambush strategy is adopted to limit the movement of the target in view of the multi-UUV encircle the high-speed target.By defining the closing conditions,the ambush target is modeled.According to the feasibility analysis of multi-UUV occupation,four basic closing strategies are designed,and the overall closing strategy is determined through the analysis of the two stages of the target formation encirclement and contraction encirclement.Matlab was used to verify the correctness of the multi-UUV placeholder constraint conditions,and the superiority of the ambush closing algorithm was verified by the comparison experiment of the "greedy best" closing algorithm.