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Multi-unmanned-boat incomplete information roundup method based on game theory

An unmanned boat, incomplete technology, used in non-electric variable control, two-dimensional position/channel control, instruments and other directions

Inactive Publication Date: 2020-09-04
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a method for rounding up many unmanned boats with incomplete information based on game theory

Method used

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  • Multi-unmanned-boat incomplete information roundup method based on game theory
  • Multi-unmanned-boat incomplete information roundup method based on game theory
  • Multi-unmanned-boat incomplete information roundup method based on game theory

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Experimental program
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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0060] Step 1: Build the round-up map environment

[0061] Definition (siege space): the hunting range of the siege boat to the non-cooperative target is the siege space, and the siege boat and the non-cooperative target are game participants. In the round-up space, the discretization method is applied to solve the segmented round-up problem of multiple unmanned boats.

[0062] Definition (participating boat): define participating boats in the encirclement space, which includes: chasing boats and escape boats.

[0063] The grid method is used to construct the round-up space, and the grid round-up coordinate system is established, and assuming that the distance between two adjacent grids is 1 unit length, for the grid vertex i, its position can be expressed as (x i ,y i ), then the distance between any two participating boats can be...

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Abstract

The invention relates to a multi-unmanned-boat incomplete information roundup method based on the game theory, and belongs to the field of multi-unmanned-boat roundup. The method comprises the following steps: step 1, constructing a roundup map environment; step 2, establishing a multi-unmanned-boat roundup problem mathematic model; 3, constructing a game roundup model; 4, solving single-step gameequilibrium; and step 5, designing a single-step game extension algorithm. According to the method, effective roundup during incomplete information can be realized, constraints on motion decisions ofescape boats and roundup boats giving of personality of confidence degree are closer to reality, and roundup efficiency is also improved by reasonable task segmentation.

Description

technical field [0001] The invention relates to a method for rounding up multiple unmanned boats with incomplete information based on game theory, and belongs to the field of rounding up multiple unmanned boats. Background technique [0002] Facing the vast and complex marine environment, a single unmanned boat faces defects such as short working hours, small effective task range, and low work efficiency in the process of performing tasks, while the multi-unmanned boat system can realize the parallel work of multiple boats to improve Work efficiency, through the sharing of resources and information to make up for the lack of capacity of a single individual, while the parallelism and redundancy of the system improve the fault tolerance of the system and increase its adaptability to tasks and environments. In the field of ocean confrontation in the future, the multi-unmanned vehicle system will be widely used by virtue of its autonomous performance. In tasks such as ocean are...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王元慧刘扬张晓云王成龙王莎莎刘冲谢可超
Owner HARBIN ENG UNIV
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