Research On Cooperative Target Searching Method Of UUV-UAV Under Communication Constraint

Nowadays,the exploration of marine resources by various countries has become more frequently,and national territorial waters have caused many disputes.Maritime tasks are particularly arduous.There is a mutual game between investigation and counter-reconnaissance in key sea areas.With the rapid development of unmanned systems,Unmanned Underwater Vehicle(UUV)and Unmanned Aerial Vehicle(UAV)are widely used in maritime search missions.However,the complexity of maritime searching tasks poses a huge challenge to a single searching platform.The input of cross-domain heterogeneous system in searching can give full play to the complementarity between platforms and significantly improve the efficiency of task execution.Therefore,the development of collaborative searching on heterogeneous platforms has broad application prospects.In order to solve the problem of searching the moving target in the maritime mission area,this paper has carried out the UUV-UAV cooperative target searching algorithm,the interaction method between the UUV and the UAV under the communication constraint,the task allocation plan and the moving target approaching strategy.The main researching content are as follows:Firstly,the problem of UUV and UAV collaborative searching for maritime targets is analyzed,the searching model is established,and the message content for interaction between systems is specified.In addition,the PID control principle used for the position and heading of the searching platform is introduced.Based on the grid method,a model of the system level corresponding to the UUV position and task space is established.Secondly,the cross-domain UUV and UAV system search for sea moving targets is divided into three key stages:cooperative target searching,task allocation,target approaching.In the cooperative searching phase without considering communication constraints,the Environment Cognitive Map is completed according to the prior information of the task area.In the collaborative target searching phase,firstly the searching path of UUV is planed by the discrete dynamic programming method offline,and then the UAV uses particle swarm optimization combined with rolling time domain optimization algorithm to plan its own searching decision online according to the real-time position of UUV.The results show that the heterogeneous cooperative algorithm proposed in this paper can achieve a targeted searching effect in the task area.Thirdly,in order to solve the problem that the heterogeneous systems cannot maintain real-time communication between systems when searching across domains.The communication mechanism between systems under communication constraints is studied,a periodic collaborative interaction method is proposed.UUV plans the communication cycles for UAV.The result shows that the systems can maintain the consistency of collaborative searching.At the same time,in view of the uncertainty of UUV buoyancy,a UUV searching method combining backtracking method and particle swarm optimization algorithm is proposed for UAV.The results show that the periodic cooperative interaction method has strong robustness.In addition,the dynamic target is added to verify the above searching method,and the result shows that the heterogeneous system can search the target quickly and reliably.Finally,after the system detects the dynamic target,the task in the searching stage is completed and enters the task allocation phase.Different task allocation schemes are proposed for different situations which platform discover the target firstly.In the UUV approaching stage,the guidance strategy is formulated by using line of sight guidance method.The result shows that the strategy proposed can follow the target stably after the target is detected.