Research On UUVs Cooperative Countermeasures And Path Optimization Methods For Base Defense Tasks

Unmanned underwater vehicle(UUV)has the advantages of small size,high concealment and strong autonomy,so it has broad prospect in the field of unmanned confrontation.In this paper,the major research areas are the UUV motion model and controller design,multi UUV area coverage search method,multi UUV task allocation and cooperative countermeasure strategy,and UUV path optimizationFirstly,the motion model of UUV is established and the motion controller of UUV is designed.The validity of UUV motion model and PID motion controller is verified by simulation experiment,which accords with the motion law of UUV.Secondly,based on the UUV mathematical model and PID controller,the area coverage search method of multiple UUVs is studied.The advantages and disadvantages of random search and zigzag search methods are demonstrated.Then a multi UUV region coverage search method based on centroid Voronoi diagram segmentation is proposed,and its advantages are verified by simulation comparison.Thirdly,the Defense Countermeasures of multi UUV bases based on threat assessment are studied.Taking the base area as the red UUV and the attacker as the blue side,this paper studies the target threat assessment method based on Bayesian network as the basis for the red side to choose the defense target countermeasures.In order to allocate the right number and position of red UUV against different blue targets,combined with the threat degree of blue UUV to the base and the revenue index function of red UUV against blue target,the task allocation method of red UUV was designed.Then,the optimal formation of red UUV is studied,and the occupation optimization method of red UUV is designed.The effectiveness of the design method is verified by typical simulation cases.Then,the basic behavior of the red UUV is analyzed.Aiming at the implementation strategy of the red UUV,the collision avoidance planning methods for the red UUV are designed for static and dynamic obstacles in the collaborative process.The effectiveness of the proposed collision avoidance method is verified by simulation experiments.Finally,based on UUV motion model and UUV motion controller,a comprehensive simulation experiment is designed to verify the rationality and effectiveness of the proposed strategy in the process of red and blue confrontation.