Design Of Multi-UUV Cooperative Guidance Law And Its Simulation Verification

With the application of artificial intelligence technology in engineering practice and in order to avoid the waste of human resources,the role of unmanned underwater vehicle systems in underwater operations has become increasingly important.The underwater unmanned underwater vehicle system has the advantages of low investment cost,high flexibility and strong concealment,which can be applied to underwater operations such as target detection,cooperative attack,and cooperative defense.In order to complete the underwater operation task of cooperative attack or cooperative defense,the engineering community realizes underwater cooperative attack or underwater cooperative interception by applying underwater cooperative guidance technology.Therefore,the research of underwater cooperative guidance technology is particularly important.The design of the underwater cooperative guidance law is the most critical part of the cooperative guidance technology,so the design of the underwater cooperative guidance law is of great theoretical significance and engineering value.In this thesis,aiming at the problem of underwater multi-UUV cooperative guidance,with the design of cooperative guidance law as the research goal,the design of cooperative guidance architecture,the modeling of underwater cooperative guidance system,the design of attack time cooperative guidance law,and the design of three-dimensional cooperative guidance law are carried out.Firstly,through the comparative analysis of various upper-level coordination strategies and lower-level guidance strategies of the collaborative guidance system architecture,the collaborative guidance system architecture of this thesis is designed.Aiming at the plane cooperative guidance problem and the 3D cooperative guidance problem,a 2D plane kinematic model and a 3D space kinematic model are established respectively,which provide the basis for the design of the subsequent cooperative guidance law in this thesis.In order to describe the communication interaction between UUVs,an underwater communication topology model is established based on the idea of graph theory.Secondly,for the multi-UUV cooperative attack problem,the remaining time is calculated based on the conventional proportional guidance method,and according to the idea of variable guidance coefficient designation,a cooperative guidance law for underwater fixed targets is designed,and the cooperative attack on planar fixed targets is realized.Aiming at the problem of multi-UUV cooperative interception,the remaining time is calculated based on the conventional proportional guidance method,and the cooperative guidance law for maneuvering targets is designed to realize the cooperative interception of planar maneuvering targets.For the above two situations,the effectiveness of the designed cooperative guidance law is verified by numerical simulation.Finally,for the fixed target in the underwater space,the remaining time under the three-dimensional conventional proportional guidance is calculated.Based on the idea of time-coordinated bias term design,a three-dimensional cooperative guidance law is designed,which realizes the coordinated attack on fixed targets in underwater space.The effectiveness of the designed cooperative guidance law is verified by numerical simulation and experimental data.The cooperative guidance law proposed in the thesis for attacking fixed targets in the plane can effectively reduce the normal overload of UUVs,the proposed three-dimensional cooperative guidance law can effectively improve the accuracy of multi-UUV cooperative guidance,which has important theoretical significance for the engineering application of multi-UUV cooperative guidance in the future.