Research On The Construction And Optimization Of Multi-UUV Formations For Collaborative Detection

With the continuous development of Unmanned Underwater Vehicle(UUV)technology and the continuous improvement of the stealth performance of underwater detection targets,the current underwater detection technology of single UUV cannot meet the current engineering application requirements.Therefore,a detection method in which multiple UUVs carry different loads and use their formations for coordinated detection has emerged.Aiming at the diversity of detection requirements of multiple UUVs in the process of constructing cooperative detection formations,this paper conducts research from two main aspects of construction and optimization of cooperative detection of multiple UUV formations.The main research contents are as follows:Firstly,based on the task background of the multi-UUV collaborative detection task,the model of the detection sonar selected by the UUV for different detection needs was established;by designing the three-level member structure,information interaction mode and active and passive working mode of the UUV cooperative detection group,the UUV group for cooperative detection was constructed;different UUV group detection methods were designed for the different detection requirements and detection sea environment.Secondly,for different multi-UUV detection requirements,a single UUV detection and perception model was established according to the working characteristics of the task load:combined with the Cassini Oval,the relationship between the coordinated detection capability of multiple UUV formations and the deployment of each UUV array was analyzed;combined with the working characteristics of the mission load carried by the UUV,the coverage characteristics of the UUV formation were analyzed;combined with the binary detection and perception model,the construction method of multi-UUV cooperative detection formation for coverage control was designed;after analyzing the working characteristics of the active and passive detection mode,based on the distance information positioning principle,a precision control-oriented multi-UUV coordinated detection formation method was designed;through simulation verification experiments,the designed formation method for different detection requirements was verified and the results are analyzed.Thirdly,for different multi-UUV detection requirements,the constructed multi-UUV array detection performance optimization requirements were analyzed,and the multi-UUV array optimization objective function under different detection requirements was constructed.Aiming at the disadvantage that the basic particle swarm algorithm is easily limited to the local optimum,the multi-UUV array optimization algorithm based on improved particle swarm was designed,the dynamic inertia weight adjustment method was used to improve it;the multi-UUV formation optimization algorithm based on the improved harmony search was designed,and adopted the method of dynamic parameter adjustment to improve the basic harmony search algorithm;in view of the advantages and disadvantages of the improved particle swarm algorithm and the improved harmony search algorithm,a multi-UUV formation optimization algorithm combining harmony-particle swarm was designed;through simulation verification experiments,three multi-UUV formation optimization algorithms were verified and the results were compared.Finally,for the multi-UUV formation efficiency of cooperative detection,a multi-UUV formation efficiency evaluation index set was constructed;according to the constructed UUV formation efficiency index set,the AHP and ADC efficiency evaluation model were combined based on gray theory,and the evaluation process of AHP gray efficiency evaluation method was given;by designing a case constructed by multiple UUV cooperative detection formations,the effectiveness of the multiple UUV formations in the case was evaluated based on the AHP gray effectiveness evaluation method.