A method for unmanned boat swarm collaboratively capturing moving targets in an obstacle environment

Abstract

The present invention discloses a method for cooperatively capturing a mobile target by a cluster of unmanned boats in an obstacle environment. The method obtains the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area, and obtains the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target under the influence of the obstacle; based on the first game model, the comprehensive benefits of the first strategy adopted by the participants in the first game model are obtained; and then according to the selection probability of the first execution strategy of the unmanned boat cluster, based on the second game model, the final second execution strategy of the unmanned boat cluster is obtained to obtain the speed and heading of the unmanned boat at the next decision moment, and then according to the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment, it is judged whether the capture task is completed. The present invention takes into account the negative and positive effects brought by obstacles, and can reduce the negative effects brought by obstacles and expand the positive effects brought by obstacles on the basis of improving the synergy effect between the unmanned boats. It can enable the unmanned boat cluster to quickly approach the mobile target in an obstacle environment, so that the capture task can be completed quickly, and it has strong feasibility.

Description

Technical Field

[0001] The present invention relates to the technical field of command and dispatch of surface unmanned boats, and in particular to a method for cooperatively capturing a moving target by a cluster of unmanned boats in an obstacle environment. Background Art

[0002] With the continuous consumption of land resources, countries are gradually paying attention to marine resources. One of the directions of future scientific and technological development is how to better develop and utilize the ocean. Realizing the protection of marine rights and interests is the premise of developing marine resources. Unmanned boats have the advantages of low cost, high safety and good flexibility. When facing suspicious targets invading our marine territory, using unmanned boat clusters for countermeasures is an efficient and safe means. Compared with destroying or driving away suspicious targets, restricting the actions of suspicious targets and successfully capturing them will bring greater benefits.

[0003] Traditional methods mainly focus on how to make the unmanned boat cluster reach the target at the same time. However, with the rapid development of computer technology, communication technology, sensor technology and other fields, the target will be equipped with more advanced detection equipment while having higher intelligence. This allows the target to detect the unmanned boat cluster and respond at a longer distance. Whether the target is faster or slower than the unmanned boat, this will seriously weaken the effect of the simultaneous arrival strategy. Moreover, when the target is discovered, the relative distance between each unmanned boat and the target is not consistent. Excessive pursuit of each unmanned boat arriving at the target at the same time will make the capture time affected by the unmanned boat farthest from the target, which will give the target more reaction time. In addition, the marine environment is not always empty, and there are obstacles such as islands and reefs. Summary of the invention

[0004] The present invention provides a method for unmanned boat clusters to collaboratively capture moving targets in an obstacle environment, so as to overcome the above technical problems.

[0005] In order to achieve the above object, the technical solution of the present invention is:

[0006] A method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment comprises the following steps:

[0007] S1: Obtain the motion parameters of the unmanned boat, obstacle parameters and motion parameters of the moving target;

[0008] The motion parameters of the unmanned boat include the position of the unmanned boat, the speed of the unmanned boat, the heading of the unmanned boat, the maximum acceleration of the unmanned boat and the maximum angular velocity of the unmanned boat; the parameters of the obstacle include the position of the obstacle and the threat radius of the obstacle; the motion parameters of the moving target include the position of the moving target, the speed of the moving target and the heading of the moving target;

[0009] S2: Establish an obstacle threat area with the obstacle center as the center and the obstacle threat radius as the radius, so as to obtain the shielded area and the exposed area in the unmanned boat capture mission; then obtain the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area according to the motion parameters and obstacle parameter information of the unmanned boat; the critical points of the exposed area and the shielded area include clockwise critical points and counterclockwise critical points; and obtain the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat;

[0010] S3: Obtain the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the moving target under the influence of the obstacle according to the motion parameters of the unmanned boat, the obstacle parameter information, the motion parameters of the moving target, the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area, the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat, and the two-dimensional spatial coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat;

[0011] S4: according to the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target, based on the first game model, obtaining the comprehensive benefits of the first strategy adopted by the participants in the first game model; the participants in the first game model are the unmanned boat cluster and the mobile target;

[0012] S5: according to the comprehensive benefits of the first strategy adopted by the participants in the first game model, the selection probability of the first execution strategy of the unmanned boat cluster is obtained to obtain the maximum selection probability of the first execution strategy, which is used as the final selection probability of the first execution strategy;

[0013] S6: According to the final selection probability of the first execution strategy, based on the second game model, the comprehensive benefits of the second execution strategies adopted by the participants in the second game model are obtained to obtain the maximum comprehensive benefit of the second execution strategy; and then the final second execution strategy of the unmanned boat cluster is obtained;

[0014] The participants in the second game model are unmanned boats in the unmanned boat cluster;

[0015] S7. According to the final second strategy of the unmanned boat cluster, based on the motion parameters of the unmanned boat, the speed and heading of the unmanned boat at the next decision moment are obtained to obtain the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment, and then according to the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment, it is determined whether the capture mission is completed.

[0016] Beneficial effects: The method of the present invention for cooperatively capturing a mobile target by a cluster of unmanned boats in an obstacle environment obtains the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area, and obtains the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target under the influence of the obstacle; based on the first game model, obtains the comprehensive benefits of the first strategy adopted by the participants in the first game model; and then according to the selection probability of the first execution strategy of the unmanned boat cluster, based on the second game model, obtains the final second execution strategy of the unmanned boat cluster, so as to obtain the speed and heading of the unmanned boat at the next decision moment, and then judges whether the capture task is completed according to the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment. The present invention takes into account the negative and positive effects brought by obstacles, and relies on the double-layer game model of the first game model and the second game model to jointly formulate the execution strategy for the unmanned boat cluster at the next decision moment, which can reduce the negative effects brought by obstacles and expand the positive effects brought by obstacles on the basis of improving the synergy between the unmanned boats. It enables the unmanned boat cluster to quickly approach the moving target in an obstacle environment. The unmanned boat that arrives around the target first will force the target to move to a position that is favorable to the unmanned boat cluster, thereby completing the capture mission quickly and having strong feasibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 A flow chart of a method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to the present invention;

[0019] Figure 2 Schematic diagram of the exposed area and the shielded area in an embodiment of the present invention;

[0020] Figure 3a The obstacle threat area is a schematic diagram of the area consisting of the first quadrant and the fourth quadrant of the hull coordinate system of the unmanned boat;

[0021] Figure 3b The obstacle threat area is a schematic diagram of the area formed by the second quadrant and the third quadrant of the hull coordinate system of the unmanned boat;

[0022] Figure 3c It is a schematic diagram of the obstacle threat area, which exists in the first quadrant of the hull coordinate system of the unmanned boat and also exists in the second quadrant of the hull coordinate system of the unmanned boat;

[0023] Figure 3d It is a schematic diagram of the obstacle threat area, which exists in the third quadrant of the hull coordinate system of the unmanned boat and also exists in the fourth quadrant of the hull coordinate system of the unmanned boat;

[0024] Figure 4a It is a schematic diagram of the unmanned boat cluster in an embodiment of the present invention completing the capture of a moving target without the aid of obstacles;

[0025] Figure 4b It is a schematic diagram of the unmanned boat cluster in an embodiment of the present invention completing the capture of a moving target with the help of obstacles;

[0026] Figure 5a A schematic diagram of the distribution of the unmanned boat cluster and the mobile targets at the initial moment in an embodiment of the present invention;

[0027] Figure 5b It is a schematic diagram of the motion trajectory of the unmanned boat cluster and the moving target in the embodiment of the present invention from 0 to 50 seconds;

[0028] Figure 5c It is a schematic diagram of the motion trajectory of the unmanned boat cluster and the mobile target for 50 to 100 seconds in an embodiment of the present invention;

[0029] Figure 5d This is a schematic diagram of the motion trajectory of the unmanned boat cluster and the mobile target from 100 seconds to the end of the mission in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] This embodiment provides a method for unmanned boat swarms to collaboratively capture moving targets in an obstacle environment. Figure 1 , including the following steps:

[0032] S1: Obtain the motion parameters of the unmanned boat, obstacle parameter information and motion parameters of the moving target;

[0033] The motion parameters of the unmanned boat include the position of the unmanned boat, the speed of the unmanned boat, the heading of the unmanned boat, the maximum acceleration of the unmanned boat and the maximum angular velocity of the unmanned boat;

[0034] The parameter information of the obstacle includes the location of the obstacle and the threat radius of the obstacle;

[0035] The motion parameters of the mobile target include the position of the mobile target, the speed of the mobile target and the heading of the mobile target;

[0036] Specifically, all motion parameter information of each unmanned boat is obtained as {x i ,y i , v i ,φ i , a i , w i}, where M = {M 1 , M 2 , ..., M i ..., M I} represents the set of unmanned boats; i = 1, ..., I represents the number of each unmanned boat, and I represents the total number of unmanned boats; x i represents the horizontal coordinate value of the 2D space of the i-th unmanned boat, y i represents the vertical coordinate value of the 2D space of the i-th unmanned boat, v i represents the speed of the i-th unmanned boat, φi represents the heading of the i-th unmanned boat, a i represents the maximum acceleration of the i-th unmanned boat, w i represents the maximum angular velocity of the i-th unmanned boat; obtain the parameter information of each obstacle that can be observed {xo j ,yo j ,ro j}, where O = {O 1 , O 2 , …, O j …, O J} represents the set of obstacles; j = 1, ..., J represents the number of each obstacle, and J represents the total number of obstacles; xo j represents the horizontal coordinate value of the j-th obstacle in two dimensions, yo j represents the vertical coordinate value of the j-th obstacle in two dimensions, ro j Represents the threat radius of the jth obstacle. Get the observable target motion parameter information {x N ,y N , v N ,φ N}, where x N Represents the horizontal coordinate value of the moving target in two dimensions, y N Represents the two-dimensional space vertical coordinate value of the moving target, v N represents the speed of the moving target, φ N Indicates the heading of a moving target.

[0037] S2: According to the motion parameters and obstacle parameter information of the unmanned boat, the two-dimensional spatial position coordinates of the critical points of the exposure area and the shielded area are obtained; the critical points of the exposure area and the shielded area include clockwise critical points and counterclockwise critical points; and the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat are obtained;

[0038] Specifically, in an obstacle-free environment, if the unmanned boat is sailing at the maximum speed, the shortest distance required to reach any position can be solved using the involute equation. Figure 2 , when there is an obstacle in the environment, the shortest distance required to reach the area other than the obstacle threat area cannot be directly solved by the involute equation. This area is the shielded area, and the area other than the shielded area and the obstacle threat area is the exposure area. The two boundary lines between the shielded area and the exposure area and the two tangent points of the obstacle threat area are the two critical points of the exposure area and the shielded area. The circular area with the obstacle's two-dimensional spatial position coordinates as the center and the threat radius as the radius is the threat area of ​​the obstacle. When the unmanned boat reaches this critical point, the point where it needs to turn clockwise to reach the shielded area is the clockwise critical point; when the unmanned boat reaches this critical point, the point where it needs to turn counterclockwise to reach the shielded area is the counterclockwise critical point.

[0039] Preferably, S2 includes the following steps:

[0040] S21: establishing a hull coordinate system of the unmanned boat according to the motion parameters of the unmanned boat;

[0041] Specifically, the origin of the hull coordinate system coincides with the two-dimensional spatial position coordinates of the unmanned boat; the y-axis of the hull coordinate system coincides with the current heading of the unmanned boat, and its direction is consistent with the current heading of the unmanned boat; the x-axis of the hull coordinate system is the y-axis of the hull coordinate system rotated 90° clockwise around the origin of the hull coordinate system.

[0042] Specifically, the relative position relationship between the obstacle threat area and the unmanned boat is divided into the following: the obstacle threat area exists in the area composed of the first and fourth quadrants of the unmanned boat's hull coordinate system; the obstacle threat area exists in the area composed of the second and third quadrants of the unmanned boat's hull coordinate system; the obstacle threat area exists in both the first and second quadrants of the unmanned boat's hull coordinate system; the obstacle threat area exists in both the third and fourth quadrants of the unmanned boat's hull coordinate system. Among them, the boundary lines where the clockwise critical point and the counterclockwise critical point are located are tangent to the minimum turning radius circle of the unmanned boat, and the tangent points are the tangent points corresponding to the clockwise critical point and the tangent points corresponding to the counterclockwise critical point.

[0043] S22: Obtain the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat as follows:

[0044] First, obtain the equation of the straight line between the exposed area and the shielded area passing through the clockwise critical point.

[0045] y=k br ×x+b br (1)

[0046] The equation of the straight line between the exposed area and the shielded area passing through the counterclockwise critical point is:

[0047] y=k bl ×x+b bl (2)

[0048] Where: y represents the ordinate of the point on the straight line; k br represents the slope of the equation of the straight line between the exposure area and the shielded area passing through the clockwise critical point; x represents the horizontal coordinate of the point on the straight line; b br The intercept of the equation of the straight line between the exposure area and the shielded area passing through the clockwise critical point; k bl b represents the slope of the equation of the straight line between the exposure area and the shielded area passing through the counterclockwise critical point; bl The intercept of the equation of the straight line between the exposed area and the shielded area passing through the counterclockwise critical point;

[0049] Then, the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat are obtained as follows:

[0050] S221: When the obstacle threat area exists in the area formed by the first quadrant and the fourth quadrant of the hull coordinate system of the unmanned boat: at this time, the obstacle threat area is completely in the first quadrant, or completely in the fourth quadrant, or in both the first quadrant and the fourth quadrant; wherein, Figure 3a A schematic diagram showing the obstacle threat area completely existing in the first quadrant of the unmanned boat's hull coordinate system;

[0051]

[0052]

[0053]

[0054]

[0055] Where: Δxr represents the difference between the horizontal coordinate of the obstacle location and the horizontal coordinate of the center of the clockwise minimum turning radius circle; Δyr represents the difference between the vertical coordinate of the obstacle location and the vertical coordinate of the center of the clockwise minimum turning radius circle; ΔR 2 Indicates the difference between the obstacle threat radius and the minimum turning radius; xr i Indicates the horizontal coordinate position of the center of the circle with the minimum turning radius clockwise; yr i Indicates the vertical coordinate position of the center of the circle with the minimum clockwise turning radius; ΔR 1 It represents the sum of obstacle threat radius and minimum turning radius;

[0056] At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0057]

[0058] The two-dimensional ordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat is:

[0059] y qr =k br × qr +b br (8)

[0060] The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0061]

[0062] The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0063] y ql =k bl × ql +b bl (10)

[0064] Where: x qr The horizontal coordinate of the two-dimensional space where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat; y qr The 2D vertical coordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat; y ql The horizontal coordinate of the two-dimensional space representing the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat; ql The two-dimensional vertical coordinate of the point of tangency between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat;

[0065] S222: When the obstacle threat area exists in the area formed by the second quadrant and the third quadrant of the hull coordinate system of the unmanned boat: at this time, the obstacle threat area is completely in the second quadrant, or completely in the third quadrant, or in both the second quadrant and the third quadrant; Figure 3b shown.

[0066]

[0067]

[0068]

[0069]

[0070] At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0071]

[0072] The two-dimensional ordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat is:

[0073] y qr =k br × qr +b br (16)

[0074] The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0075]

[0076] The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0077] y ql =k bl × ql +b bl (18)

[0078] Where: Δxl represents the difference between the horizontal coordinate of the obstacle location and the horizontal coordinate of the center of the counterclockwise minimum turning radius circle; Δyl represents the difference between the vertical coordinate of the obstacle location and the vertical coordinate of the center of the counterclockwise minimum turning radius circle; xl i Indicates the horizontal coordinate position of the center of the counterclockwise minimum turning radius circle; yl i Indicates the ordinate position of the center of the counterclockwise minimum turning radius circle;

[0079] S223: When the obstacle threat area exists in both the first quadrant of the unmanned boat's hull coordinate system and the second quadrant of the unmanned boat's hull coordinate system: Figure 3c ;

[0080]

[0081]

[0082]

[0083]

[0084] At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0085]

[0086] The two-dimensional ordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat is:

[0087] y qr =k br × qr +b br (twenty four)

[0088] The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0089]

[0090] The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0091] y ql =k bl × ql +b bl (26)

[0092] S224: When the obstacle threat area exists in both the third quadrant of the unmanned boat's hull coordinate system and the fourth quadrant of the unmanned boat's hull coordinate system: Figure 3d ;

[0093]

[0094]

[0095]

[0096]

[0097] At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0098]

[0099] The two-dimensional ordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat is:

[0100] y qr =k br × qr +b br (32)

[0101] The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0102]

[0103] The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is:

[0104] y ql =k bl × ql +b bl (34)

[0105] Among them, Δxr, Δyr, Δxl, Δyl, ΔR 1 , ΔR 2 Respectively expressed as:

[0106]

[0107] Among them, xr i =x i +r i ×cos(φ i -π / 2); yr i =y i +r i ×sin(φ i -π / 2); xl i =x i +r i ×cos(φ i +π / 2);yl i =y i +r i ×sin(φ i +π / 2); r i =v i / w i ;

[0108] Where: xo jrepresents the horizontal coordinate value of the j-th obstacle in two dimensions, yo j represents the vertical coordinate value of the j-th obstacle in two dimensions, ro j represents the threat radius of the jth obstacle; x i represents the horizontal coordinate value of the 2D space of the i-th unmanned boat, y i represents the vertical coordinate value of the 2D space of the i-th unmanned boat, v i represents the speed of the i-th unmanned boat, φ i represents the heading of the i-th unmanned boat, w i represents the maximum angular velocity of the i-th unmanned boat;

[0109] S23: Obtain the two-dimensional spatial coordinates of the critical points of the exposure area and the shielding area as follows:

[0110] The horizontal coordinate of the clockwise critical point in two-dimensional space is:

[0111]

[0112] The ordinate of the clockwise critical point in two-dimensional space is:

[0113] y br =k br × br +b br (37)

[0114] The horizontal coordinate of the counterclockwise critical point in two-dimensional space is:

[0115]

[0116] The ordinate of the counterclockwise critical point in two-dimensional space is:

[0117] y bl =k bl × bl +b bl (39).

[0118] S3: acquiring the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target according to the motion parameters of the unmanned boat, the obstacle parameter information, the motion parameters of the mobile target, and the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area;

[0119] Preferably, the method for obtaining the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target is as follows:

[0120] S31: acquiring the position of the moving target at time t+Δt according to the motion parameters of the moving target;

[0121] {(x N′ ,y n′ )|x N′ =xN +v N ·cos(φ N )·Δt,y n′ =y n +v N ·sin(φ N )·Δt}(40)

[0122] Where: x N′ Represents the horizontal coordinate value of the moving target in the two-dimensional space at time t+Δt, y N′ represents the vertical coordinate value of the moving target in the two-dimensional space at time t+Δt; t represents the current time; Δt represents the navigation time; x N Represents the horizontal coordinate value of the moving target in two dimensions, y N Represents the two-dimensional space vertical coordinate value of the moving target, v N represents the speed of the moving target, φ N Indicates the heading of a moving target.

[0123] S32: Based on the motion parameters of the unmanned boat, obtain the involute equation of the boundary of the area that the unmanned boat can reach when turning counterclockwise relative to the current heading. and the involute equation of the boundary of the area that the unmanned boat can reach when turning clockwise relative to the current heading To obtain the possible position set of the unmanned boat at time t+Δt:

[0124]

[0125]

[0126] In the formula, The involute equation representing the boundary of the area that the i-th unmanned boat can reach when turning counterclockwise relative to the current heading; express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; The involute equation representing the boundary of the area that the i-th unmanned boat can reach when turning clockwise relative to the current heading;

[0127] express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; r i =vi / w i represents the minimum turning radius of the i-th unmanned boat, v i represents the speed of the i-th unmanned boat, w i represents the maximum angular velocity of the i-th unmanned boat; θ represents the central angle of the i-th unmanned boat along the circular trajectory of the minimum turning radius; specifically, the points on the involute equation of the unmanned boat are all possible positions of the unmanned boat at time t+Δt, and the involute is the set of possible positions of the unmanned boat at time t+Δt.

[0128] S33: Based on the possible position set of the unmanned boat at time t+Δt and the position of the moving target at time t+Δt, obtain the two-dimensional spatial position coordinates of the intersection of the trajectory of the unmanned boat and the moving target when obstacles are not considered:

[0129] Specifically, formulas (41) and (42) are combined with formula (40) to solve the intersection coordinates of the unmanned boat and the moving target:

[0130] Preferably, the method for acquiring the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the moving target when obstacles are not considered is as follows:

[0131] The formula used to obtain the set of intersection points of the trajectory of the unmanned boat and the moving target when turning clockwise is as follows:

[0132]

[0133] The formula used to obtain the set of intersection points of the trajectory of the unmanned boat and the moving target when it turns counterclockwise is as follows:

[0134]

[0135] The two-dimensional spatial position coordinates of the intersection of the unmanned boat and the moving target when obstacles are not considered are obtained as follows: in the set of the intersection of the unmanned boat and the moving target when the unmanned boat turns clockwise and the set of the intersection of the unmanned boat and the moving target when the unmanned boat turns counterclockwise, the intersection of the unmanned boat and the moving target when Δt is the smallest is recorded as (x o ,y o );

[0136] S34: Obtain the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target based on the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target without considering obstacles, obstacle parameter information, the two-dimensional spatial position coordinates of the critical point of the exposed area and the shielded area, the two-dimensional spatial coordinates of the tangent point of the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat, and the two-dimensional spatial position coordinates of the tangent point of the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat.

[0137] Preferably, the method used to obtain the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target is as follows:

[0138] When the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered are located in the exposure area, the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target are the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered;

[0139] When the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered are located in the obstacle threat area, the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target are the two-dimensional spatial position coordinates of the critical point of the exposed area and the shielded area with the shortest distance from the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered;

[0140] When the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target without considering obstacles are located in the shielded area, the method for obtaining the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target is as follows:

[0141] S341: Obtain the time required for the unmanned boat to reach the clockwise critical point and the time required for the unmanned boat to reach the counterclockwise critical point based on the two-dimensional spatial position coordinates of the critical point between the exposure area and the shielding area, the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat, and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat:

[0142]

[0143]

[0144] φ r =atan2(y br -y qr , x br -x qr ) (47)

[0145] φ l =atan2(y bl -y ql , x bl -x ql ) (48)

[0146] Among them, φ r It represents the heading angle of the unmanned boat when it reaches the clockwise critical point along the critical line between the exposure area and the shielded area; φ l It represents the heading angle of the unmanned boat when it reaches the counterclockwise critical point along the critical line between the exposure area and the shielded area; |φ r -φ i|Indicates that the fastest speed of the unmanned boat heading changes to φ r The angle to be rotated when |φ l -φ i |Indicates that the fastest speed of the unmanned boat heading changes to φ l The angle to be rotated when r It indicates the time required for the unmanned boat to reach the clockwise critical point; T l represents the time required for the unmanned boat to reach the counterclockwise critical point; x bl Represents the horizontal coordinate of the two-dimensional space of the counterclockwise critical point; y bl represents the ordinate of the two-dimensional space of the counterclockwise critical point; x br Represents the horizontal coordinate of the two-dimensional space of the clockwise critical point; y br represents the horizontal coordinate of the two-dimensional space of the clockwise critical point; x ql Indicates the horizontal coordinate of the two-dimensional space of the tangent point corresponding to the counterclockwise critical point; y ql Indicates the ordinate of the two-dimensional space of the tangent point corresponding to the counterclockwise critical point; x qr Indicates the horizontal coordinate of the two-dimensional space of the tangent point corresponding to the clockwise critical point; y qr Indicates the ordinate of the two-dimensional space of the tangent point corresponding to the clockwise critical point;

[0147] S342: Based on the time T required for the unmanned boat to reach the clockwise critical point r , obtain the unmanned boat passing through the clockwise critical point relative to φ r The involute equation of the boundary of the area that can be reached when turning clockwise To obtain the unmanned boat at t+ΔT r The possible first position set in the shielded area at the moment; at the same time, obtain the moving target at t+ΔT r The location at the moment;

[0148] Get the unmanned boat passing through the clockwise critical point relative to φ r The involute equation of the boundary of the area that can be reached when turning clockwise as follows:

[0149]

[0150] Get the moving target at t+ΔT r The positions at the moment are as follows:

[0151]

[0152] in,

[0153] ΔT r =T r +Δt;

[0154] In the formula, express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; r O Indicates the threat radius of the current obstacle;

[0155] S343: According to the time T required for the unmanned boat to reach the counterclockwise critical point l , get the relative position of the unmanned boat to φ when it passes the counterclockwise critical point l The involute equation of the boundary of the area that can be reached when turning counterclockwise To obtain the unmanned boat at t+ΔT l The possible second position set in the shielded area at the moment; at the same time, obtain the moving target at t+ΔT l Position at the moment:

[0156] Preferably, the unmanned boat passes through the counterclockwise critical point relative to φ l The involute equation of the boundary of the area that can be reached when turning counterclockwise as follows:

[0157]

[0158] Get the moving target at t+ΔT l The positions at the moment are as follows:

[0159]

[0160] in,

[0161] ΔT l =T l +Δt;

[0162] In the formula, express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; θ Z represents the center angle of the circular trajectory of the ith unmanned boat along the threat radius of the obstacle; ΔT r and ΔT l All are intermediate calculation parameters;

[0163] S344: According to the unmanned boat at t+ΔT r The possible first position set in the shielded area at time t+ΔT r The position at the moment ofr When turning clockwise, the two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area; at the same time, according to the unmanned boat at t+ΔT l The possible second position set in the shielded area at time t+ΔT l The position at the moment of l A set of two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target in the shielded area when turning counterclockwise; to obtain the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target in the shielded area;

[0164] Preferably, the unmanned boat passes through the clockwise critical point relative to φ r The formula used for the two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area when turning clockwise is as follows:

[0165]

[0166] Get the unmanned boat passing through the counterclockwise critical point relative to φ l The formula used for the two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area when turning counterclockwise is as follows:

[0167]

[0168] Then the two-dimensional spatial coordinates of the meeting point between the unmanned boat and the moving target in the shielded area are obtained as follows: r The two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area when turning clockwise and the unmanned boat passing through the counterclockwise critical point relative to φ l In the two-dimensional spatial position coordinate set of the meeting point of the unmanned boat and the mobile target in the shielded area when turning counterclockwise, when ΔT is the smallest, the intersection coordinates of the unmanned boat and the mobile target are the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target in the shielded area.

[0169] S4: according to the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target, based on the first game model, obtaining the comprehensive benefits of the first strategy adopted by the participants in the first game model;

[0170] Specifically in this embodiment, the participants in the first game model are the unmanned boat cluster and the mobile target;

[0171] The first strategy adopted by the participants in the first game model includes a first execution strategy and a moving target strategy of the unmanned boat cluster;

[0172] The first execution strategy of the unmanned boat cluster includes capturing the moving target with the help of obstacles and capturing the moving target without the help of obstacles;

[0173] Specifically, the schematic diagram of capturing a moving target without the help of obstacles is as follows: Figure 4a As shown in the figure; the distance between the target and the three unmanned boats is less than the capture radius, and the distance between the centroid position of the three unmanned boats and the target is less than a constant valued according to the actual situation and experience of the unmanned boats; the schematic diagram of capturing the moving target with the help of obstacles is shown in Figure 4b As shown in the figure, the distance between the target and the two unmanned boats is less than the capture radius; the distance between the two unmanned boats and the center of the obstacle is less than the sum of the capture radius and the obstacle threat radius, and the distance between the centroid positions of the three and the target is less than a constant valued according to the actual situation and experience of the unmanned boats;

[0174] The moving target strategy includes the strategy of the moving target maintaining the current heading of the moving target, the moving target rotating counterclockwise by θ relative to the current heading, and the moving target rotating clockwise by θ relative to the current heading;

[0175] Specifically, the first game model in this embodiment is implemented by a multivariate array <P h , A h , S h , R h > is described. Among them, P h Represents the set of participants. The unmanned boat cluster is regarded as one participant of the game, and the mobile target is regarded as another participant of the game. h represents the set of first strategies that the participants in the first game model can adopt: among them, the unmanned boat cluster can choose two first execution strategies, namely, capturing the moving target with the help of obstacles and capturing the moving target without obstacles. The moving target adopts three maneuvers as the moving target strategy: the moving target maintains the current heading of the moving target, the moving target rotates counterclockwise θ relative to the current heading, and the moving target rotates clockwise θ relative to the current heading. S h Represents the set of participant states in the first game model. It includes the motion parameters of each unmanned boat at the current moment and the motion parameters of the observed moving target. h Represents the set of benefits of participants in the first game model.

[0176] Preferably, the comprehensive benefits in the first game model are obtained as follows:

[0177]

[0178] In the formula, represents the comprehensive benefit when the unmanned boat cluster adopts the mth first execution strategy and the mobile target adopts the nth moving target strategy, k 1 represents the weight coefficient of the comprehensive benefit when the unmanned boat cluster adopts the mth first execution strategy and the mobile target adopts the nth mobile target strategy; m = 1 means that the mobile target is captured with the help of obstacles; m = 2 means that the mobile target is captured without the help of obstacles; x mc1 is the two-dimensional position abscissa of the centroid of the two closest encounter points to the moving target and the position of the obstacle closest to the moving target when the unmanned boat captures the moving target with the help of obstacles; mc1 is the two-dimensional position ordinate of the centroid of the two closest encounter points to the moving target and the position of the obstacle closest to the moving target when the unmanned boat captures the moving target with the help of obstacles; mc2 ym is the two-dimensional position abscissa of the centroid of the three encounter points closest to the moving target when the unmanned boat cluster completes the capture mission without the help of obstacles; c2 is the two-dimensional position ordinate of the centroid of the three encounter points closest to the moving target when the unmanned boat cluster completes the capture task without the help of obstacles;

[0179] In this embodiment, possible strategy combinations of the unmanned boat cluster and the mobile target are traversed, and the corresponding comprehensive benefit value of each strategy combination in the first game model is calculated according to formula (55).

[0180] S5: According to the comprehensive benefits of the first strategy adopted by the participants in the first game model, solve the mixed strategy Nash equilibrium, obtain the selection probability of the first execution strategy of the unmanned boat cluster, and obtain the maximum selection probability of the first execution strategy, which is used as the final selection probability of the first execution strategy P m ;

[0181] Specifically, in this embodiment, a linear programming method is used to solve the mixed Nash equilibrium in the first game model. The solution of the mixed Nash equilibrium corresponds to the selection probability of the first strategy of the unmanned boat cluster, and the final first strategy selection probability value P of the unmanned boat cluster is obtained. m .

[0182] Preferably, the formula used to obtain the selection probability of the first execution strategy of the unmanned boat cluster is as follows:

[0183]

[0184]

[0185] Where: z is the benefit value of the unmanned boat cluster; A MA is the number of first execution strategies that the unmanned boat swarm can adopt; N The number of moving target strategies that can be adopted for the moving target; P m The probability of the unmanned boat swarm taking the mth first execution strategy; P is the comprehensive benefit value when the unmanned boat cluster adopts the mth first execution strategy and the moving target adopts the nth moving target strategy; o Selecting the current probability value of the first execution strategy for the unmanned boat swarm;

[0186] Specifically, when the selection probability of the first execution strategy of the unmanned boat cluster is the largest, it is used as the final selection probability of the first execution strategy of the unmanned boat cluster adopted by the unmanned boat cluster.

[0187] S6: According to the final selection probability of the first execution strategy, based on the second game model, the comprehensive benefits of the second execution strategies adopted by the participants in the second game model are obtained to obtain the maximum comprehensive benefit of the second execution strategy, which is used as the final comprehensive benefit of the second execution strategy of the unmanned boat cluster; to obtain the final second execution strategy of the unmanned boat cluster;

[0188] Specifically, the participants in the second game model in this embodiment are unmanned boats in an unmanned boat cluster;

[0189] The second execution strategy set adopted by the participants in the second game model includes an acceleration straight-ahead strategy, an acceleration counterclockwise turning strategy relative to the current heading, an acceleration clockwise turning strategy relative to the current heading, a uniform speed straight-ahead strategy, a uniform speed counterclockwise turning strategy relative to the current heading, a uniform speed clockwise turning strategy relative to the current heading, a deceleration straight-ahead strategy, a deceleration counterclockwise turning strategy relative to the current heading, and a deceleration clockwise turning strategy relative to the current heading;

[0190] The second game model in this embodiment uses a multivariate array <P l , A l , S l , R l > is described. Among them, P l A represents the set of participants in the second game model, where different unmanned boats are regarded as different participants in the game. lRepresents the second set of execution strategies in the second game model that each participant can adopt. Each unmanned boat can choose nine maneuvers: accelerating straight, accelerating counterclockwise relative to the current heading, accelerating clockwise relative to the current heading, moving straight at a constant speed, turning counterclockwise relative to the current heading, turning clockwise relative to the current heading, decelerating straight, decelerating counterclockwise relative to the current heading, and decelerating clockwise relative to the current heading. Specifically, the acceleration of the unmanned boat when executing accelerating straight, accelerating counterclockwise relative to the current heading, accelerating clockwise relative to the current heading, decelerating straight, decelerating counterclockwise relative to the current heading, and decelerating clockwise relative to the current heading are all constants taken according to the performance of the unmanned boat. Moving straight at a constant speed, turning counterclockwise relative to the current heading, and turning clockwise relative to the current heading mean that the unmanned boat continues to move at the current speed. S l Represents the set of participant states in the second game model. It includes the motion parameters of all unmanned boats at the current decision moment of each unmanned boat. l Represents the payoff set of participants in the second game model.

[0191] Preferably, the comprehensive benefits of the second execution strategy adopted by the participants in the second game model are obtained as follows:

[0192] R l =k 4 ·R 4 +k 5 ·R 5 +k 6 ·R 6 (57)

[0193] In the formula, R 4 represents individual benefits, k 4 Represents the weight coefficient of individual income; R 5 represents the synergy benefit, k 5 Represents the weight coefficient of synergy benefits; R 6 represents the collision avoidance benefit, k 6 Represents the weight coefficient of collision avoidance benefit; R l represents the comprehensive return of the second strategy;

[0194]

[0195] In the formula, (xm i ,ym i ) is the two-dimensional spatial coordinate of the meeting point between the i-th unmanned boat and the moving target; is the individual benefit of the i-th unmanned boat; d i is the distance between the i-th unmanned boat and the meeting point; D h The capture radius of the unmanned boat; Represents the two-dimensional space horizontal coordinate of the next decision moment when the i-th unmanned boat selects the second strategy; represents the two-dimensional spatial ordinate of the next decision moment when the i-th defense boat selects the second strategy;

[0196]

[0197] Where: x uc1 y is the two-dimensional position abscissa of the centroid of the two unmanned boats closest to the moving target and the auxiliary point; uc1 is the two-dimensional position ordinate of the centroid of the two unmanned boats closest to the moving target and the auxiliary point; The two-dimensional position abscissa of the centroid of the two unmanned boats closest to the moving target and the auxiliary point at the next decision moment when each unmanned boat selects the second strategy; The two-dimensional ordinate position of the centroid of the two unmanned boats closest to the moving target and the auxiliary point at the next decision moment when each unmanned boat selects the second strategy; x uc2 y is the two-dimensional position abscissa of the centroid of the three unmanned boats closest to the moving target; uc2 is the two-dimensional position ordinate of the centroid of the three unmanned boats closest to the moving target; The two-dimensional position abscissa of the centroid of the three unmanned boats closest to the moving target at the next decision moment when each unmanned boat selects the second strategy; The two-dimensional position ordinate of the centroid of the three unmanned boats closest to the moving target at the next decision moment when each unmanned boat selects the second strategy; the point closest to the moving target on the contour of the threat area is the auxiliary point;

[0198] Among them, the point on the threat area contour that is closest to the moving target is the auxiliary point;

[0199]

[0200]

[0201]

[0202]

[0203]

[0204]

[0205]

[0206] In the formula, p ii′represents the benefit of avoiding collision between the i-th unmanned boat and the i′-th unmanned boat; p ij represents the benefit of avoiding collision between the i-th unmanned boat and the j-th obstacle; p iN represents the benefit of avoiding collision between the i-th unmanned boat and the moving target; D 1 , D 2 and D 3 are constants based on the actual conditions of the boat and experience, and D 1 Less than D 2 ;d ii′ is the distance between the i-th unmanned boat and the i′th unmanned boat; d ij represents the distance between the i-th unmanned boat and the j-th obstacle; d iN represents the distance between the i-th unmanned boat and the moving target;

[0207] Traverse all possible strategy combinations of each participant in the second game model to obtain the comprehensive benefits of the second execution strategy adopted by the participants in the second game model. Select the second execution strategy combination with the largest benefit as the final second execution strategy of the unmanned boat cluster, and finally determine the maneuvering action to be performed by each unmanned boat and execute it.

[0208] S7. According to the final second strategy of the unmanned boat cluster, based on the motion parameters of the unmanned boat, obtain the speed v′ of the unmanned boat at the next decision moment i and the heading φ′ at the next decision moment i , to obtain the two-dimensional spatial position coordinates (x′) of the unmanned boat at the next decision moment i , y′ i ), and then judge whether the capture mission is completed according to the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment.

[0209] Among them, the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment are obtained as follows:

[0210] x′ i =x i +v′ i ×cos(φ′ i ) (69)

[0211] y′ i =y i +v′ i ×sin(φ′ i ) (70)

[0212] Preferably, the method for determining whether the capture task is completed is as follows:

[0213] S71: Obtain the distance d between the two-dimensional spatial position of the i-th unmanned boat at the next decision moment and the two-dimensional spatial position of the moving target at the next decision moment in , d in ∈d N ={d 1N , d 2N , ..., d IN}; where d n is the set of distances between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the mobile target at the next moment;

[0214] Get the distance d between the two-dimensional spatial position of the i-th unmanned boat at the next decision moment and the two-dimensional spatial position of the auxiliary obstacle iO , d iO ∈d θ ={d 1O , d 2O , ..., d IO};

[0215] The obstacle where the auxiliary point is located is the auxiliary obstacle; the distance d between the two-dimensional spatial position of the moving target at the next decision moment and the two-dimensional spatial position of the center of the task area is obtained. G ; Among them, the task area is a circular area with a radius of r G ;

[0216] Specifically, in this embodiment, d in ,d iO , and d G The distances are calculated using conventional distance calculation formulas in the field.

[0217] S72: If the set of distances d between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the moving target at the next moment n Medium, less than D h When the number of elements does not exceed 1, the capture task is not completed; at this time, re-execute S1-S6; D h represents the capture radius of the unmanned boat;

[0218] S73: The set d of distances between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the moving target at the next moment n Medium, less than D h When the number of elements is 2, there is only d iN <D h and d i′N <D h , when i≠i′

[0219] like Then the capture task is not completed; among them, D 4 is a constant valued according to the actual situation and experience of the unmanned boat;

[0220] If d iO >r f +D h ,d i′O ≤r f +D h , The capture task is not completed; f To assist the obstacle threat radius;

[0221] If d iO ≤r f +D h ,d i′O >r f +D h , Then the capture mission is not over;

[0222] If d iO >r f +D h ,d i′O >r f +D h , Then the capture mission is not over;

[0223] If d iO ≤r f +D h ,d i′O ≤r f +D h , The capture mission is successful, the moving target is successfully captured, and the capture mission ends.

[0224] S74: The set of distances d between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the moving target at the next moment N Medium, less than D h When the number of elements of is greater than 2, that is, d N There are at least three values ​​less than D h hour,

[0225] like , the capture task is not completed; re-execute S1-S5;

[0226] like , the capture mission is successful, the moving target is successfully captured, and the capture mission ends.

[0227] When G <r G, the mobile target enters the mission area, the capture mission fails, and the capture mission ends.

[0228] Specifically, when the second strategy of the unmanned boat cluster is finally determined, according to the motion parameters of the unmanned boat and the motion parameters of the moving target. If the distance between the moving target and at least three unmanned boats is less than the capture radius of the unmanned boat, and the point (x uc2 ,y uc2 ) is less than D from the moving target 4 , the interception is successful and the interception mission is over; if only the distance between the two unmanned boats and the moving target is less than the capture radius, and the distance between the two unmanned boats and the auxiliary obstacle is less than the sum of the capture radius and the threat radius of the obstacle, and point (x uc1 ,y uc1 ) is less than D from the moving target 4 , the interception is successful and the capture mission ends; when the mobile target enters the mission area, the capture mission fails and the mission ends; otherwise, the capture mission continues;

[0229] An embodiment of the present invention is as follows:

[0230] Attached Figure 5a-5d This is an embodiment of using Matlab to simulate a method for cooperatively capturing a mobile target by a cluster of unmanned boats in an obstacle environment of the present invention. In the embodiment, at the beginning of the mission, the mobile target is located at (592, 357), the heading angle is 95°, and the speed is 5m / s. Unmanned boat 1, unmanned boat 2 and unmanned boat 3 are located at (158, -235), (-658, 381) and (-323, -150), respectively. The initial heading angles are 304°, 298° and 120°, respectively. The speeds are all 10m / s. The maximum acceleration is 1m / s 2 The maximum angular velocity is 0.2 rad / s. There are 5 obstacles with different threat radii in the scene. In the embodiment, the unmanned boat cluster completes the capture of the moving target, and there is no collision during the capture process. Figure 5a Indicates the distribution of the unmanned boat cluster, targets, mission areas and obstacles at the start of the mission; Figure 5b It means that the unmanned boat cluster approaches the target while avoiding obstacles; Figure 5c It means that the distance between the target and an unmanned boat is less than the capture radius; Figure 5d It means that the distance between the target and the three unmanned boats is less than the capture radius, and the distance between the centroid of the three unmanned boats and the target is less than D 4 , the target is successfully captured and the capture mission ends.

[0231] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for unmanned boat swarms to collaboratively capture moving targets in an obstacle environment, characterized in that: The steps include: S1: Obtain the motion parameters of the unmanned boat, obstacle parameters and motion parameters of the moving target; The motion parameters of the unmanned boat include the position of the unmanned boat, the speed of the unmanned boat, the heading of the unmanned boat, the maximum acceleration of the unmanned boat and the maximum angular velocity of the unmanned boat; the parameters of the obstacle include the position of the obstacle and the threat radius of the obstacle; the motion parameters of the moving target include the position of the moving target, the speed of the moving target and the heading of the moving target; S2: Establish an obstacle threat area with the obstacle center as the center and the obstacle threat radius as the radius, so as to obtain the shielded area and the exposed area in the unmanned boat capture mission; then obtain the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area according to the motion parameters and obstacle parameter information of the unmanned boat; the critical points of the exposed area and the shielded area include clockwise critical points and counterclockwise critical points; and obtain the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat; S3: Obtain the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the moving target under the influence of the obstacle according to the motion parameters of the unmanned boat, the obstacle parameter information, the motion parameters of the moving target, the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area, the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat, and the two-dimensional spatial coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat; S4: according to the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target, based on the first game model, obtaining the comprehensive benefits of the first strategy adopted by the participants in the first game model; the participants in the first game model are the unmanned boat cluster and the mobile target; S5: according to the comprehensive benefits of the first strategy adopted by the participants in the first game model, the selection probability of the first execution strategy of the unmanned boat cluster is obtained to obtain the maximum selection probability of the first execution strategy, which is used as the final selection probability of the first execution strategy; S6: According to the final selection probability of the first execution strategy, based on the second game model, the comprehensive benefits of the second execution strategies adopted by the participants in the second game model are obtained to obtain the maximum comprehensive benefit of the second execution strategy; and then the final second execution strategy of the unmanned boat cluster is obtained; The participants in the second game model are unmanned boats in the unmanned boat cluster; S7. According to the final second strategy of the unmanned boat cluster, based on the motion parameters of the unmanned boat, the speed and heading of the unmanned boat at the next decision moment are obtained to obtain the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment, and then according to the two-dimensional spatial position coordinates of the unmanned boat at the next decision moment, it is determined whether the capture mission is completed.

2. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: The S2 includes the following steps: S21: establishing a hull coordinate system of the unmanned boat according to the motion parameters of the unmanned boat; S22: Obtain the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat, as follows: First, the equation of the straight line between the exposed area and the shielded area passing through the clockwise critical point is obtained as: y=k br ×x+b br (1) The equation of the straight line between the exposed area and the shielded area passing through the counterclockwise critical point is: y=k bl ×x+b bl (2) Where: y represents the ordinate of the point on the straight line; k br represents the slope of the equation of the straight line between the exposure area and the shielded area passing through the clockwise critical point; x represents the horizontal coordinate of the point on the straight line; b br The intercept of the equation of the straight line between the exposure area and the shielded area passing through the clockwise critical point; k bl b represents the slope of the equation of the straight line between the exposure area and the shielded area passing through the counterclockwise critical point; bl The intercept of the equation of the straight line between the exposed area and the shielded area passing through the counterclockwise critical point; Then, the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat are obtained as follows: S221: When the obstacle threat area exists in the area consisting of the first and fourth quadrants of the unmanned boat's hull coordinate system: Where: Δxr represents the difference between the horizontal coordinate of the obstacle location and the horizontal coordinate of the center of the clockwise minimum turning radius circle; Δyr represents the difference between the vertical coordinate of the obstacle location and the vertical coordinate of the center of the clockwise minimum turning radius circle; ΔR2 represents the difference between the obstacle threat radius and the minimum turning radius; xr i Indicates the horizontal coordinate position of the center of the circle with the minimum turning radius clockwise; yr i Indicates the ordinate position of the center of the minimum turning radius circle in the clockwise direction; ΔR1 indicates the sum of the obstacle threat radius and the minimum turning radius; At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the point of tangency between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y qr =k br ×x qr +b br (8) The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y ql =k bl ×x ql +b bl (10) Where: x qr The horizontal coordinate of the two-dimensional space where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat; y qr The 2D vertical coordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat; y ql The horizontal coordinate of the two-dimensional space representing the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat; ql The two-dimensional vertical coordinate of the point of tangency between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat; S222: When the obstacle threat area exists in the area formed by the second and third quadrants of the hull coordinate system of the unmanned boat: At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the point of tangency between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y qr =k br ×x qr +b br (16) The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y ql =k bl ×x ql +b bl (18) Where: Δxl represents the difference between the horizontal coordinate of the obstacle location and the horizontal coordinate of the center of the counterclockwise minimum turning radius circle; Δyl represents the difference between the vertical coordinate of the obstacle location and the vertical coordinate of the center of the counterclockwise minimum turning radius circle; xl i Indicates the horizontal coordinate position of the center of the counterclockwise minimum turning radius circle; yl i Indicates the ordinate position of the center of the counterclockwise minimum turning radius circle; S223: When the obstacle threat area exists in both the first quadrant of the hull coordinate system of the unmanned boat and the second quadrant of the hull coordinate system of the unmanned boat: At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the point of tangency between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y qr =k br ×x qr +b br (24) The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y ql =k bl ×x ql +b bl (26) S224: When the obstacle threat area exists in both the third quadrant of the unmanned boat's hull coordinate system and the fourth quadrant of the unmanned boat's hull coordinate system: At this time, the two-dimensional space horizontal coordinate of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the point where the boundary line of the clockwise critical point is tangent to the circle of the minimum turning radius of the unmanned boat is: y qr =k br ×x qr +b br (32) The two-dimensional space horizontal coordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: The two-dimensional ordinate of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat is: y ql =k bl ×x ql +b bl (34) Among them, Δxr, Δyr, Δxl, Δyl, ΔR1, ΔR2 are expressed as: among them, xr i =x i +r i ×cos(φ i -π / 2);yr i =y i +r i ×sin(φ i -π / 2);xl i =x i +r i ×cos(φ i +π / 2);yl i =y i +r i ×sin(φ i +π / 2);r i =v i / w i ; Where: xo j represents the horizontal coordinate value of the j-th obstacle in two dimensions, yo j represents the vertical coordinate value of the j-th obstacle in two dimensions, ro j represents the threat radius of the jth obstacle; x i represents the horizontal coordinate value of the 2D space of the i-th unmanned boat, y i represents the vertical coordinate value of the 2D space of the i-th unmanned boat, v i represents the speed of the i-th unmanned boat, φ i represents the heading of the i-th unmanned boat, w i represents the maximum angular velocity of the i-th unmanned boat; S23: Obtain the two-dimensional spatial coordinates of the critical points of the exposure area and the shielding area as follows: The horizontal coordinate of the clockwise critical point in two-dimensional space is: The ordinate of the clockwise critical point in two-dimensional space is: y br =k br ×x br +b br (37) The horizontal coordinate of the counterclockwise critical point in two-dimensional space is: The ordinate of the counterclockwise critical point in two-dimensional space is: y bl =k bl ×x bl +b bl (39) S3: According to the motion parameters of the unmanned boat, the obstacle parameter information, the motion parameters of the moving target, and the two-dimensional spatial position coordinates of the critical points of the exposed area and the shielded area, the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the moving target are obtained.

3. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: In S3, the method for obtaining the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target is as follows: S31: acquiring the position of the moving target at time t+Δt according to the motion parameters of the moving target; {(x N′ ,,y N′ )|x N′ =x N +v N ·cos(φ N )·Δt,y N′ =y N +v N ·sin(φ N )·Δt} (40) Where: x N′ Represents the horizontal coordinate value of the moving target in the two-dimensional space at time t+Δt, y N′ Represents the vertical coordinate value of the moving target in the two-dimensional space at time t+Δt; t represents the current time; Δt represents the voyage time; x N Represents the horizontal coordinate value of the moving target in two dimensions, y N Represents the two-dimensional space vertical coordinate value of the moving target, v N represents the speed of the moving target, φ N Indicates the heading of a moving target; S32: Based on the motion parameters of the unmanned boat, obtain the involute equation of the boundary of the area that the unmanned boat can reach when turning counterclockwise relative to the current heading. and the involute equation of the boundary of the area that the unmanned boat can reach when turning clockwise relative to the current heading To obtain the possible position set of the unmanned boat at time t+Δt: In the formula, The involute equation representing the boundary of the area that the i-th unmanned boat can reach when turning counterclockwise relative to the current heading; express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; The involute equation representing the boundary of the area that the i-th unmanned boat can reach when turning clockwise relative to the current heading; express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; r i =v i / w i represents the minimum turning radius of the i-th unmanned boat, v i represents the speed of the i-th unmanned boat, w i represents the maximum angular velocity of the i-th unmanned boat; θ represents the center angle of the i-th unmanned boat along the circular trajectory with the minimum turning radius; S33: Based on the possible position set of the unmanned boat at time t+Δt and the position of the moving target at time t+Δt, obtain the two-dimensional spatial position coordinates of the intersection of the trajectory of the unmanned boat and the moving target when obstacles are not considered: S34: According to the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered, obstacle parameter information, the two-dimensional spatial position coordinates of the critical point of the exposed area and the shielded area, the two-dimensional spatial coordinates of the tangent point of the boundary line where the clockwise critical point is located and the minimum turning radius circle of the unmanned boat, and the two-dimensional spatial position coordinates of the tangent point of the boundary line where the counterclockwise critical point is located and the minimum turning radius circle of the unmanned boat, the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target under the influence of the obstacle are obtained.

4. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 3, characterized in that: In S33, the method for obtaining the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the moving target when obstacles are not considered is as follows: The formula used to obtain the set of intersection points of the trajectory of the unmanned boat and the moving target when turning clockwise is as follows: The formula used to obtain the set of intersection points of the trajectory of the unmanned boat and the moving target when it turns counterclockwise is as follows: The two-dimensional spatial position coordinates of the intersection of the unmanned boat and the moving target when obstacles are not considered are obtained as follows: in the set of the intersection of the unmanned boat and the moving target when the unmanned boat turns clockwise and the set of the intersection of the unmanned boat and the moving target when the unmanned boat turns counterclockwise, the intersection of the unmanned boat and the moving target when Δt is the smallest is recorded as (x o ,y o ).

5. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 3, characterized in that: In S34, the method used to obtain the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the moving target under the influence of the obstacle is as follows: When the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered are located in the exposure area, the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target are the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered; When the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered are located in the obstacle threat area, the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target are the two-dimensional spatial position coordinates of the critical point of the exposed area and the shielded area with the shortest distance from the intersection of the trajectories of the unmanned boat and the mobile target when obstacles are not considered; When the two-dimensional spatial position coordinates of the intersection of the trajectories of the unmanned boat and the mobile target without considering obstacles are located in the shielded area, the method for obtaining the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target is as follows: S341: Obtain the time required for the unmanned boat to reach the clockwise critical point and the time required for the unmanned boat to reach the counterclockwise critical point based on the two-dimensional spatial position coordinates of the critical point between the exposure area and the shielding area, the two-dimensional spatial coordinates of the tangent point between the boundary line where the clockwise critical point is located and the circle of the minimum turning radius of the unmanned boat, and the two-dimensional spatial position coordinates of the tangent point between the boundary line where the counterclockwise critical point is located and the circle of the minimum turning radius of the unmanned boat: f r =atani2(y br -y qr ,x br -x qr ) (47) φ l =atan2(y bl -y ql ,x bl -x ql ) (48) Among them, φ r It represents the heading angle of the unmanned boat when it reaches the clockwise critical point along the critical line between the exposure area and the shielded area; φ l It represents the heading angle of the unmanned boat when it reaches the counterclockwise critical point along the critical line between the exposure area and the shielded area; |φ r -φ i |Indicates that the fastest speed of the unmanned boat heading changes to φ r The angle to be rotated when |φ l -φ i |Indicates that the fastest speed of the unmanned boat heading changes to φ l The angle to be rotated when r It indicates the time required for the unmanned boat to reach the clockwise critical point; T l represents the time required for the unmanned boat to reach the counterclockwise critical point; x bl Represents the horizontal coordinate of the two-dimensional space of the counterclockwise critical point; y bl represents the ordinate of the two-dimensional space of the counterclockwise critical point; x br Represents the horizontal coordinate of the two-dimensional space of the clockwise critical point; y br represents the horizontal coordinate of the two-dimensional space of the clockwise critical point; x ql Indicates the horizontal coordinate of the two-dimensional space of the tangent point corresponding to the counterclockwise critical point; y ql Indicates the ordinate of the two-dimensional space of the tangent point corresponding to the counterclockwise critical point; x qr Indicates the horizontal coordinate of the two-dimensional space of the tangent point corresponding to the clockwise critical point; y qr Indicates the ordinate of the two-dimensional space of the tangent point corresponding to the clockwise critical point; S342: Based on the time T required for the unmanned boat to reach the clockwise critical point r , obtain the unmanned boat passing through the clockwise critical point relative to φ r The involute equation of the boundary of the area that can be reached when turning clockwise To obtain the unmanned boat at t+ΔT r The possible first position set in the shielded area at the moment; at the same time, obtain the moving target at t+ΔT r The location at the moment; Get the unmanned boat passing through the clockwise critical point relative to φ r The involute equation of the boundary of the area that can be reached when turning clockwise as follows: Get the moving target at t+ΔT r The positions at the moment are as follows: in, ΔT r =T r +Δt; In the formula, express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; r O Indicates the threat radius of the current obstacle; S343: According to the time T required for the unmanned boat to reach the counterclockwise critical point l , get the relative position of the unmanned boat to φ when it passes the counterclockwise critical point l The involute equation of the boundary of the area that can be reached when turning counterclockwise To obtain the unmanned boat at t+ΔT l The possible second position set in the shielded area at the moment; at the same time, obtain the moving target at t+ΔT l Position at the moment: Among them, the involute equation of the boundary of the area that the unmanned boat can reach when it turns counterclockwise relative to φl when passing the counterclockwise critical point is obtained: as follows: Get the moving target at t+ΔT l The positions at the moment are as follows: in, ΔT l =T l +Δt; In the formula, express The coordinate value of the two-dimensional space of the point on, where for The horizontal coordinate value of the two-dimensional space of the upper point, for The vertical coordinate value of the two-dimensional space of the upper point; θ Z represents the center angle of the circular trajectory of the ith unmanned boat along the threat radius of the obstacle; ΔT r and ΔT l All are intermediate calculation parameters; S344: According to the unmanned boat at t+ΔT r The possible first position set in the shielded area at time t+ΔT r The position at the moment of r When turning clockwise, the two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area; at the same time, according to the unmanned boat at t+ΔT l The possible second position set in the shielded area at time t+ΔT l The position at the moment of l A set of two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target in the shielded area when turning counterclockwise; to obtain the two-dimensional spatial position coordinates of the meeting point between the unmanned boat and the mobile target in the shielded area; Among them, the unmanned boat passes through the clockwise critical point relative to φ r The formula used for the two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area when turning clockwise is as follows: The formula used to obtain the two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area when the unmanned boat passes through the counterclockwise critical point relative to φl is as follows: Then the two-dimensional spatial coordinates of the meeting point between the unmanned boat and the moving target in the shielded area are obtained as follows: r The two-dimensional spatial position coordinate set of the meeting point between the unmanned boat and the moving target in the shielded area when turning clockwise and the unmanned boat passing through the counterclockwise critical point relative to φ l In the two-dimensional spatial position coordinate set of the meeting point of the unmanned boat and the mobile target in the shielded area when turning counterclockwise, when ΔT is the smallest, the intersection coordinates of the unmanned boat and the mobile target are the two-dimensional spatial position coordinates of the meeting point of the unmanned boat and the mobile target in the shielded area.

6. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: In S4, the comprehensive benefits in the first game model are obtained as follows: In the formula, represents the comprehensive benefit when the unmanned boat cluster adopts the mth first execution strategy and the mobile target adopts the nth moving target strategy; k1 represents the weight coefficient of the comprehensive benefit when the unmanned boat cluster adopts the mth first execution strategy and the mobile target adopts the nth moving target strategy; m = 1 means that the mobile target is captured with the help of obstacles; m = 2 means that the mobile target is captured without the help of obstacles; x mc1 is the two-dimensional position abscissa of the centroid of the two closest encounter points to the moving target and the position of the obstacle closest to the moving target when the unmanned boat captures the moving target with the help of obstacles; mc1 is the two-dimensional position ordinate of the centroid of the two closest encounter points to the moving target and the position of the obstacle closest to the moving target when the unmanned boat captures the moving target with the help of obstacles; mc2 is the two-dimensional position abscissa of the centroid of the three encounter points closest to the moving target when the unmanned boat cluster completes the capture task without the help of obstacles; mc2 It is the two-dimensional position ordinate of the centroid of the three encounter points closest to the moving target when the unmanned boat cluster completes the capture mission without the help of obstacles.

7. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: The formula used to obtain the selection probability of the first execution strategy of the unmanned boat cluster is as follows: Where: z is the benefit value of the unmanned boat cluster; A M A is the number of first execution strategies that the unmanned boat swarm can adopt; N The number of moving target strategies that can be adopted for the moving target; P m The probability of the unmanned boat swarm taking the mth first execution strategy; P is the comprehensive benefit value when the unmanned boat cluster adopts the mth first execution strategy and the moving target adopts the nth moving target strategy; o The current probability value of selecting the first execution strategy for the unmanned boat swarm.

8. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: In S6, the comprehensive benefits of the second execution strategy adopted by the participants in the second game model are obtained as follows: R l =k4·R4+k5·R5+k6·R6 (57) In the formula, R4 represents individual benefit, k4 represents the weight coefficient of individual benefit; R5 represents synergistic benefit, k5 represents the weight coefficient of synergistic benefit; R6 represents collision avoidance benefit, k6 represents the weight coefficient of collision avoidance benefit; R l represents the comprehensive return of the second strategy; In the formula, (xm i ,ym i ) is the two-dimensional spatial coordinate of the meeting point between the i-th unmanned boat and the moving target; is the individual benefit of the i-th unmanned boat; d i is the distance between the i-th unmanned boat and the meeting point; D h The capture radius of the unmanned boat; Represents the two-dimensional space horizontal coordinate of the next decision moment when the i-th unmanned boat selects the second strategy; represents the two-dimensional spatial ordinate of the next decision moment when the i-th defense boat selects the second strategy; Where: x uc1 y is the two-dimensional position abscissa of the centroid of the two unmanned boats closest to the moving target and the auxiliary point; uc1 is the two-dimensional position ordinate of the centroid of the two unmanned boats closest to the moving target and the auxiliary point; The two-dimensional position abscissa of the centroid of the two unmanned boats closest to the moving target and the auxiliary point at the next decision moment when each unmanned boat selects the second strategy; The two-dimensional ordinate position of the centroid of the two unmanned boats closest to the moving target and the auxiliary point at the next decision moment when each unmanned boat selects the second strategy; x uc2 y is the two-dimensional position abscissa of the centroid of the three unmanned boats closest to the moving target; uc2 is the two-dimensional position ordinate of the centroid of the three unmanned boats closest to the moving target; The two-dimensional position abscissa of the centroid of the three unmanned boats closest to the moving target at the next decision moment when each unmanned boat selects the second strategy; The two-dimensional position ordinate of the centroid of the three unmanned boats closest to the moving target at the next decision moment when each unmanned boat selects the second strategy; In the formula, p ii′ represents the benefit of avoiding collision between the i-th unmanned boat and the i′-th unmanned boat; p ij represents the benefit of avoiding collision between the i-th unmanned boat and the j-th obstacle; p in represents the benefit of the i-th unmanned boat avoiding collision with the moving target; D1, D2 and D3 are constants based on the actual situation and experience of the boat, and D1 is less than D2; d ii′ is the distance between the i-th unmanned boat and the i′th unmanned boat; d ij represents the distance between the i-th unmanned boat and the j-th obstacle; d in Represents the distance between the i-th unmanned boat and the moving target.

9. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: In S7, the method for determining whether the capture task is completed is as follows: S71: Obtain the distance d between the two-dimensional spatial position of the i-th unmanned boat at the next decision moment and the two-dimensional spatial position of the moving target at the next decision moment in , d in ∈d N ={d 1N , d 2N , ..., d IN }; where d N is the set of distances between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the mobile target at the next moment; Get the distance d between the two-dimensional spatial position of the i-th unmanned boat at the next decision moment and the two-dimensional spatial position of the auxiliary obstacle iO ; Get the distance d between the two-dimensional spatial position of the mobile target at the next decision moment and the two-dimensional spatial position of the center of the task area G ; S72: If the set of distances d between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the moving target at the next moment N Medium, less than D h When the number of elements does not exceed 1, the capture task is not completed; D h represents the capture radius of the unmanned boat; S73: The set d of distances between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the moving target at the next moment N Medium, less than D h When the number of elements of is 2, like Then the capture mission is not over; where D4 is a constant valued according to the actual situation and experience of the unmanned boat; If d iO >r f +D h d i′O ≤r f +D h , Then the capture task is not completed; among them, r f To assist the obstacle threat radius; If d iO ≤r f +D h d i′O >r f +D h , Then the capture mission is not over; If d iO >r f +D h d i′O >r f +D h , Then the capture mission is not over; If d iO ≤r f +D h d i′O ≤r f +D h , The capture mission is successful, the moving target is successfully captured, and the capture mission ends; S74: The set of distances d between the two-dimensional spatial position of the unmanned boat cluster at the next decision moment and the two-dimensional spatial position of the moving target at the next moment N Medium, less than D h When the number of elements of is greater than 2, like , the capture task is not completed; re-execute S1-S5; like When , the capture mission is successful, the moving target is successfully captured, and the capture mission ends; When G <r G When , the mobile target enters the mission area, the capture mission fails and ends; r G is the mission area radius.

10. The method for cooperatively capturing a moving target by a swarm of unmanned boats in an obstacle environment according to claim 1, characterized in that: The shielded area and exposed area in the unmanned boat capture mission are obtained as follows: The area between two tangent lines passing through the location of the unmanned boat and tangent to the obstacle threat area and located on the side of the obstacle threat area away from the unmanned boat is the shielded area; The area other than the shielded area and the obstacle threat area is the exposure area.

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