Behavior-based multi-UUV self-organizing coordination control method

Abstract

The invention relates to a behavior-based multi-UUV self-organizing coordination control method. The method comprises the following steps: 1, constructing a mapping relationship between an immune network and a multi-UUV system, and defining related parameters; 2, proposing a coordination control kinetic model based on basic behavior actions, and realizing fractional Brownian motion modeling of operation environment errors; and 3, giving immune network-based multi-UUV self-organizing coordination control in a discrete state to meet cooperative control for multi-UUV system under the distributedstructure and realize the entrapping operation on enemy targets. The method has the characteristics of strong self-organization, fault tolerance, real-time performance and the like, and is convenientfor engineering realization of the underwater unmanned system.

Description

technical field [0001] The invention relates to the field of underwater unmanned system modeling and simulation, in particular to a behavior-based multi-UUV self-organization coordination control method. Background technique [0002] The multi-UUV system is an underwater network composed of a variety of homogeneous or heterogeneous UUV unmanned systems in space, time, events and functions. Compared with a single UUV, it has higher operating efficiency and wider application fields. It plays multiple roles such as pre-detection, communication nodes, attack weapons, and launch platforms in the lower network, and has become a hotspot in the research of civilian and military fields in my country's deep-sea strategy. [0003] In the field of military applications, multi-UUV system is a complex underwater unmanned combat system in which weapon systems, underwater environments and operational missions are coupled and interact with each other. All group decisions such as task assignme...

AI Technical Summary

Problems solved by technology

The centralized UUV coordinated control model must carry out unified planning and coordination of tasks through the coordinated control center. If the perception information is complete and the computing power of the coordination center is guaranteed, the global optimal solution of the entire planning system can be obtained; although the calculation of this type of model is simple , convenient, but the application scenarios are often limited, and its dynamics and robustness are poor

Since the distributed coordinated control model adopts a bottom-up modeling mechanism, it can not only satisfy multiple constraints, but also ensure the minimum cost of the coordination process. It has become the focus of current multi-UUV system coordinated control research; this type of model mainly includes method, a method based on market theory and a method based on self-organization theory. Inspired by the structure and principle of neural network, the method based on self-organization theory maps the operating environment and information perception into the behavior model to realize the path of multi-UUV system planning, but the model is based on the ideal conditions of UUV dynamic motion, which reduces the practicality and synergy of the model for actual underwater collaborative applications

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