Unmanned ship cluster interception method based on passive defense

Abstract

The invention relates to an unmanned ship cluster interception method based on passive defense, and the method comprises the following steps: building a motion model of unmanned ships of a defense side and an attacking side based on the speed and maneuverability differences of the defense side and the attacking side; a strike radius and a defense radius are defined, an object close to the strike radius of the unmanned ship is destroyed, the defense radius is the distance between the defense unmanned ship and a target point, a passive defense method is utilized to predict the path of the attack unmanned ship, and a heuristic task allocation search algorithm is utilized to allocate a task target for the defense unmanned ship cluster; the attacking unmanned surface vehicle adopts an improved artificial potential field method to carry out path planning and dynamic obstacle avoidance, and avoids the interception of the defending unmanned surface vehicle; and evaluating the interception effect of the unmanned ship cluster according to the multiple interception effect evaluation indexes. Compared with the prior art, the method has the advantages that the disadvantage of speed can be made up by utilizing the cluster advantage and the position advantage of the defense party, and the interception task can be better executed.

Description

Technical Field

[0001] The invention relates to the field of intelligent control, and in particular to an unmanned boat cluster interception method based on passive defense. Background Art

[0002] As human society's pursuit of economic development becomes more three-dimensional and multi-dimensional, the ocean has become an important strategic space for countries around the world due to its rich natural resources and research value. Surface unmanned boats are small and medium-sized surface platforms that can replace crew members to sail autonomously, avoid casualties, and are widely used in various tasks. Civilian unmanned boats can handle search, detection, hydrological and geographical survey tasks in rivers, lakes and seas, and military unmanned boats can be equipped with more advanced sensors and weapon systems to cope with more complex and diverse tasks such as patrolling, navigation, assault, and anti-submarine.

[0003] However, the tracking and interception method based on the encirclement method can only achieve a good interception effect when the speed of the attacker is lower than that of the defender. When the speed and maneuverability of the defender's unmanned boat are not as good as those of the attacker's unmanned boat, the interception success rate is almost zero. In other words, the existing unmanned boat cluster coordinated interception method does not take into account the speed difference between the attacker and the defender, and it is difficult to achieve effective interception when the defender's speed is lower than that of the attacker. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned boat cluster interception method based on passive defense.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] A passive defense-based unmanned boat cluster interception method comprises the following steps:

[0007] S1, based on the speed and maneuverability differences between the defender and the attacker, establish the motion models of the defender and the attacker’s unmanned boats;

[0008] S2, defines the strike radius and defense radius. Objects within the strike radius of the unmanned boat will be destroyed. The defense radius is the distance between the defending unmanned boat and the target point. The passive defense method is used to predict the path of the attacking unmanned boat, and the heuristic task allocation search algorithm is used to assign task targets to the defending unmanned boat cluster.

[0009] S3, the attacking unmanned boat uses the improved artificial potential field method to perform path planning and dynamic obstacle avoidance to avoid being intercepted by the defending unmanned boat;

[0010] S4, evaluate the interception effect of the unmanned boat cluster based on multiple interception effect evaluation indicators.

[0011] The motion model of the defending and attacking unmanned boats is: for unmanned boat i, the position at time t is (x i (t),y i (t)), the longitudinal velocity and heading are denoted as v i (t) and θ i (t), then according to the kinematic principle, the position of the unmanned boat at the next moment t+Δt is calculated:

[0012]

[0013] Under the condition that the defender's speed is lower than that of the attacker and its maneuverability is not as good as that of the attacker, the defender's unmanned boat does not take the initiative to attack, but chooses passive defense. The route of the attacker's unmanned boat is predicted based on the general direction of the attacker's unmanned boat's movement, which must be in the direction of the target point. The defender's unmanned boat cluster forms a defense ring within the defense radius based on the speed difference between the two and waits for the opponent's attack.

[0014] The specific step S2 is: for the attacking unmanned boat, the distance from the target point is R a , the speed is v a ; For the defending unmanned boat, the defense radius is R d , the speed is v d , and v d <v a ; During the entanglement between the attacking unmanned boat and the defending unmanned boat, the trajectories of both parties are regarded as concentric circles centered on the target point, and their radii are R a and R d In order to ensure that there is always an unmanned boat on the line between the attacker and the target point, there should be:

[0015]

[0016] Then, according to the determined defense radius, the mission target points are evenly selected on the concentric circles, and the mission points are assigned to the unmanned boat cluster through a heuristic task allocation search algorithm to perform the encirclement and interception mission.

[0017] For an unmanned boat cluster of size N, the defender uses a heuristic task allocation search algorithm to allocate N task target points obtained by the prediction interception method to the N unmanned boats one by one based on known information. The heuristic task allocation search algorithm is specifically as follows:

[0018] The defending unmanned boat cluster is recorded as a set The task objectives are recorded as a set The mission objective of unmanned boat i is denoted as q i , the task allocation of the entire unmanned boat swarm is recorded as Q = q1,...,q N; For each unmanned boat i, calculate the distance dis(i,s) between it and each mission target:

[0019]

[0020] Taking the center of the unmanned boat cluster as a reference, the distance between each individual in the cluster and the cluster center is used as the measure of the individual relative position. Taking the center of the mission target point as a reference, the distance between each mission target point and the mission target point center is used as the measure of the mission point relative position. After re-sorting the individual relative position and the mission point relative position from near to far, a heuristic search is used. The search formula is as follows:

[0021]

[0022] Among them, f1(i) represents the distance ranking of the unmanned boat numbered i from the cluster center in the unmanned boat cluster, and f2(s) represents the distance ranking of the mission target point numbered s from the center of the mission target point among all mission targets.

[0023] The improved artificial potential field method is specifically as follows: an artificial potential field function is set, and the movement of the unmanned boat is guided by the artificial potential field function. The artificial potential field function includes an attractive potential field and a repulsive potential field. The repulsive potential field is improved for dynamic obstacles. At the same time, in order to avoid the situation where the combined repulsive force and the gravitational force are collinear, a fictitious small perturbation repulsive force is introduced to break the equilibrium point.

[0024] The improved repulsive potential field for dynamic obstacles is specifically:

[0025] According to the relationship between the potential energy intensity of the repulsive field and the distance between the unmanned boat and the obstacle and the movement speed of the obstacle, the repulsive potential field is improved as follows:

[0026]

[0027] Among them, X i , X j Represent the position of the unmanned boat and the position of the obstacle respectively, k req is the repulsion gain coefficient, ρ(X j ,X i ) is the vector pointing from the obstacle position to the unmanned boat position, ρ o is a constant, indicating the maximum distance at which obstacles exert repulsive force on the unmanned boat, p is the direction vector of the defending unmanned boat pointing to the attacking unmanned boat, and v a,max It is the maximum speed of the defending unmanned boat.

[0028] The interception effect evaluation indicators include interception results, interception time, average distance relative to the target point, error distance of the task point and interception influence factor. The interception result is whether the defended target point is destroyed; the interception time is the length of time from the time when the defending unmanned boat discovers the attacking unmanned boat to the time when the attacking boat is destroyed or the attacking boat destroys the target point; the average distance relative to the target point is used to measure the additional relative movement of the attacking unmanned boat due to the interception behavior of the defending unmanned boat; the task point error distance is used to measure the difference in distance between the defending unmanned boat and the task it needs to perform; the interception influence factor is used to measure the interception influence of the defending unmanned boat on the attacking party, which depends on the relative positions between the defending unmanned boat, the attacking unmanned boat and the target point.

[0029] The calculation formula of the task point error distance is as follows:

[0030]

[0031] Among them, N is the number of unmanned boats on the defending side, X i is the position of each defending unmanned boat i in the cluster, X s,i is the mission point location corresponding to the defending unmanned boat i.

[0032] The interception impact factor β L The calculation formula of ∈[0,1] is as follows:

[0033]

[0034] Among them, N is the number of unmanned boats on the defending side, β L,i is the individual interception impact factor of the defending unmanned boat i, which is defined as follows:

[0035]

[0036] Among them, R d,i represents the distance between the defending unmanned boat i and the target point, represents the angle between the i-th defender, target point and attacker, L i R represents the distance from the defending unmanned boat i to the line connecting the attacking party and the target point. a is the distance between the attacking unmanned boat and the target point.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] (1) On the basis of completing the problem modeling, considering that the speed and maneuverability of the defending unmanned boat are not as good as those of the attacking unmanned boat when the unmanned boat cluster is intercepting, the present invention proposes a predictive interception method based on the passive defense method. The defending unmanned boat cluster does not take the initiative to attack, but chooses passive defense and waits for the attacking unmanned boat to attack. The unmanned boat cluster is assigned task targets through the heuristic task allocation search algorithm to obtain corresponding task points without path intersection. It can make full use of our cluster advantages and position advantages to make up for the speed disadvantage, better perform the interception task, and improve the task success rate of the unmanned boat cluster in the changeable marine environment.

[0039] (2) The present invention designs an improved artificial potential field method for the attacking unmanned boat to realize path planning and dynamic obstacle avoidance, so as to avoid interception and capture by the defending unmanned boat. Compared with the classic artificial potential field method, it is more flexible in the face of dynamic obstacles and can avoid falling into the local optimal solution, so that the attacking unmanned boat can effectively avoid interception by the defending unmanned boat in a complex and changeable marine environment, thereby improving the flexibility and adaptability of the task.

[0040] (3) The heuristic task allocation search algorithm of the present invention takes the relative position of the unmanned boat and the relative position of the task point into consideration, so that the unmanned boat can better match the task points with similar relative positions when allocating tasks, and avoid the intersection of the paths of the unmanned boats to the assigned task points, thereby avoiding the possibility of collision between the unmanned boats due to path intersection to a certain extent.

[0041] (4) The present invention has the characteristics of simple structure and high success rate, and can be applied to unmanned ship clusters of different sizes to complete autonomous collaborative interception tasks.

[0042] (5) The present invention designs multiple evaluation indicators for the interception effect of unmanned boat clusters to evaluate the interception effect, which can improve the interception effect to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The present invention is a flow chart of the method.

[0044] Figure 2 A schematic diagram of the striking radius in one embodiment.

[0045] Figure 3 A schematic diagram of a defense radius in an embodiment.

[0046] Figure 4 A schematic diagram of a passive defense method in an embodiment.

[0047] Figure 5 Schematic diagram of the artificial potential field method in one embodiment.

[0048] The reference numerals in the figure are: 1, first attack unmanned boat; 2, second attack unmanned boat; 3, first defense unmanned boat; 4, second defense unmanned boat; 5, third defense unmanned boat; 6, strike radius R h ; 7. Defending target; 8. Distance R between the attacking unmanned boat and the defending target a ; 9. Defense radius R d ; 10. The angle between the defending unmanned boat, the defensive target and the offensive unmanned boat; 11. The distance from the defending unmanned boat to the line connecting the offensive and target points; 12. The repulsion of the first defending unmanned boat; 13. The repulsion of the second defending unmanned boat; 14. The attraction of the defensive target. DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0050] This embodiment provides a method for intercepting unmanned boat swarms based on passive defense, such as Figure 1 As shown, the following steps are included:

[0051] S1, based on the speed and maneuverability differences between the defender and the attacker, establish the motion models of the defender and the attacker's unmanned boats.

[0052] The motion model of the defending and attacking unmanned boats is: for unmanned boat i, its position at time t is (x i (t),y i (t)), the longitudinal velocity and heading are denoted as v i (t) and θ i (t), then according to the kinematic principle, the position of the unmanned boat at the next moment t+Δt is calculated:

[0053] x i (t+Δt)=x i (t)+v i (t)cos(θ i (t))

[0054] y i (t+Δt)=y i (t)+y i (t)sin(θ i (t))

[0055] S2, defines the strike radius and defense radius. Objects approaching the strike radius of the unmanned boat will be destroyed. The defense radius is the distance between the defending unmanned boat and the target point. The passive defense method is used to predict the path of the attacking unmanned boat, and the heuristic task allocation search algorithm is used to assign task targets to the defending unmanned boat cluster.

[0056] Introducing strike radius R h The concept is close to the radius R of the unmanned boat h The objects in it will be destroyed. Figure 2 As shown in the figure, when the defending unmanned boat directly intercepts the attacking unmanned boat, that is, when the attacking unmanned boat approaches the target point R h The unmanned boat R that approached the attacker before is within the range h If the attacking unmanned boat is within the range, the attacking unmanned boat is destroyed, the target point is protected, the defending party wins, and the interception is successful. On the contrary, when the attacking unmanned boat avoids the defending unmanned boat, that is, when the defending unmanned boat approaches itself R h The target point R is close to the target point before the range h Within the range, the target point is destroyed, the attacking side wins, and the interception fails.

[0057] like Figure 3 As shown, the defense radius R is introduced d , which is the distance between the defender's unmanned boat and the target point, can reflect the interception influence of the defender's unmanned boat in the area to a certain extent. In the process of pursuit between the attacker and the defender, in order to bypass the defender and approach the defense point, the attacker needs to rely on its own speed advantage to move in an arc-shaped trajectory. Due to the slower speed of the defender, when the radius of the arc is the same, the distance traveled in the same time is much smaller than that of the attacker. At this time, there will be no obstruction from the defender between the attacker and the target point, and the attacker can easily break through the defender's interception. In the case of a speed disadvantage, the defender's unmanned boat does not take the initiative to attack, but chooses passive defense, waiting for the attacker's unmanned boat to raid, maintaining its own interception influence, which can improve the interception effect to a certain extent.

[0058] Based on the above ideas, it can be predicted that the general direction of the attacking unmanned boat must be towards the direction of the target point. The defending unmanned boat cluster no longer sends individual members to track the attacking unmanned boat, but forms a certain defense circle within a certain defense radius according to the speed difference to wait for the opponent's attack, such as Figure 4 shown.

[0059] For the attacking unmanned boat, the distance to the target point is R a , the speed is v a ; For the defending unmanned boat, the defense radius is R d , the speed is v d , and v d <v a ; During the entanglement between the attacking unmanned boat and the defending unmanned boat, the trajectories of both parties are regarded as concentric circles centered on the target point, and their radii are R a and R dIn order to ensure that there is always an unmanned boat on the line between the attacker and the target point, there should be:

[0060]

[0061] Then, according to the determined defense radius, the mission target points are evenly selected on the concentric circles, and the mission points are assigned to the unmanned boat cluster through a heuristic task allocation search algorithm to perform the encirclement and interception mission.

[0062] For an unmanned boat swarm of size N, it is necessary to determine N tasks to complete the interception and capture of the target. Specifically, based on the known information, the defender uses a heuristic task allocation search algorithm to assign N task target points obtained by the predictive interception method to the N unmanned boats one by one.

[0063] The defending unmanned boat cluster is recorded as a set The task objectives are recorded as a set The mission objective of unmanned boat i is denoted as q i , the task allocation of the entire unmanned boat swarm is recorded as Q = q1,...,q N ; For each unmanned boat i, calculate the distance dis(i,s) between it and each mission target:

[0064]

[0065] Prioritize the target that is closer, that is, the task point with the shortest distance as the task target:

[0066]

[0067] In order to further improve the efficiency of heuristic search, the relative position of the unmanned boat and the relative position of the task point are taken into account. In order to simplify the calculation, this embodiment uses the center of the unmanned boat cluster as a reference, and uses the distance between each individual in the cluster and the cluster center as the measure of the individual relative position. The center of the task target point is used as a reference, and the distance between each task target point and the center of the task target point is used as the measure of the relative position of the task point. After re-sorting the relative positions of the individuals and the task points from near to far, heuristic search is used. The updated search formula is as follows:

[0068]

[0069] Among them, f1(i) represents the distance ranking of the unmanned boat numbered i from the cluster center in the unmanned boat cluster, and f2(s) represents the distance ranking of the mission target point numbered s from the center of the mission target point among all mission targets.

[0070] After reordering the unmanned boats and task points according to the center distance, the unmanned boats can better match task points with similar relative positions when performing task assignments, which is beneficial to the search efficiency of the unmanned boats when performing tasks. Furthermore, in the process of task assignment, the paths of the unmanned boats to the assigned task points should be avoided as much as possible, thereby avoiding the possibility of collisions between unmanned boats due to path intersections to a certain extent.

[0071] S3, the attacking unmanned boat uses the improved artificial potential field method for path planning and dynamic obstacle avoidance to avoid interception by the defending unmanned boat.

[0072] The core idea of ​​the classic artificial potential field method is to construct a gravitational potential field with the target point as the center to attract the robot to approach; to construct a repulsive potential field with the obstacle as the center to repel the robot to move away; and to guide the movement of the unmanned boat by constructing the combined force field of the gravitational field and the repulsive field, such as Figure 5 shown.

[0073] However, when planning a trajectory in the face of a dynamic obstacle, it is necessary to obtain the position of the obstacle at the next moment by comparing the position of the obstacle at the current moment with the movement of the obstacle, so as to avoid collision. Based on this idea, this embodiment improves the repulsive field of the artificial potential field method. The potential energy strength of the repulsive field is not only related to the distance between the unmanned boat and the obstacle, but also to the movement speed of the obstacle. The repulsive potential field is improved as follows:

[0074]

[0075] Among them, X i , X j Represent the position of the unmanned boat and the position of the obstacle respectively, k req is the repulsion gain coefficient, ρ(X j ,X i ) is the vector pointing from the obstacle position to the unmanned boat position, ρ o is a constant, indicating the maximum distance at which obstacles exert repulsive force on the unmanned boat, p is the direction vector of the defending unmanned boat pointing to the attacking unmanned boat, and v a,max It is the maximum speed of the defending unmanned boat.

[0076] In the special case where the repulsive force of the obstacle on the unmanned boat and the gravitational force of the target point are on the same straight line, the path planning of the unmanned boat may fall into the local optimal solution and fail to reach the target point because the repulsive force is greater than or equal to the gravitational force. In order to avoid the situation where the combined repulsive force and the gravitational force are on the same line, a fictitious small perturbation repulsive force is introduced to break the equilibrium point and make the unmanned boat escape from the local optimal solution.

[0077] S4, evaluate the interception effect of the unmanned boat cluster based on multiple interception effect evaluation indicators.

[0078] The interception effect evaluation indicators include interception results, interception time, average distance relative to the target point, mission point error distance and interception influencing factor.

[0079] (1) Interception result G: whether the defended target point is destroyed.

[0080] (2) Interception time t l : The time from when the defending unmanned boat discovers the attacking unmanned boat to when the attacking unmanned boat is destroyed or when the attacking unmanned boat destroys the target point; if the interception is successful, the interception time t l The shorter the time, the better the interception effect. If the interception fails, the interception time t l The longer it is, the more time the defending unmanned boat has gained during the interception process, which means the better the interception effect is.

[0081] (3) Average distance relative to the target point Measures the additional relative movement of the target point caused by the interception behavior of the defending unmanned boat.

[0082] (4) Task point error distance d e Used to measure the distance difference between the defending unmanned boat and the mission it needs to perform; d e The distance between the position of each defending unmanned boat in the cluster and the position of the corresponding mission point is calculated, and finally the average value is obtained. The calculation formula is as follows:

[0083]

[0084] Among them, N is the number of unmanned boats on the defending side, X i is the position of each defending unmanned boat i in the cluster, X s,i is the mission point location corresponding to the defending unmanned boat i.

[0085] (5) The interception impact factor is used to measure the interception influence of the defending unmanned boat on the attacking unmanned boat, which depends on the relative positions of the defending unmanned boat, the attacking unmanned boat and the target point.

[0086] Interception factor β L The calculation formula of ∈[0,1] is as follows:

[0087]

[0088] Among them, N is the number of unmanned boats on the defending side, β L,i is the individual interception impact factor of the defending unmanned boat i, which is defined as follows:

[0089]

[0090] Among them, R d,i represents the distance between the defending unmanned boat i and the target point, represents the angle between the i-th defender, target point and attacker, L i R represents the distance from the defending unmanned boat i to the line connecting the attacking party and the target point. a is the distance between the attacking unmanned boat and the target point.

[0091] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning, or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A passive defense-based unmanned boat cluster interception method, characterized in that: The following steps are involved: S1, based on the speed and maneuverability differences between the defender and the attacker, establish the motion models of the defender and the attacker’s unmanned boats; S2, defines the strike radius and defense radius. Objects approaching the strike radius of the unmanned boat will be destroyed. The defense radius is the distance between the defending unmanned boat and the target point. The passive defense method is used to predict the path of the attacking unmanned boat, and the heuristic task allocation search algorithm is used to assign task targets to the defending unmanned boat cluster. S3, the attacking unmanned boat uses the improved artificial potential field method to perform path planning and dynamic obstacle avoidance to avoid being intercepted by the defending unmanned boat; S4, evaluate the interception effect of the unmanned boat cluster based on multiple interception effect evaluation indicators.

2. The passive defense-based unmanned boat cluster interception method according to claim 1 is characterized in that: The motion model of the defending and attacking unmanned boats is: for unmanned boat i, the position at time t is (x i (t),y i (t)), the longitudinal velocity and heading are denoted as v i (t) and θ i (t), then according to the kinematic principle, the position of the unmanned boat at the next moment t+Δt is calculated:

3. The passive defense-based unmanned boat cluster interception method according to claim 1 is characterized in that: Under the condition that the defender's speed is lower than that of the attacker and its maneuverability is not as good as that of the attacker, the defender's unmanned boat does not take the initiative to attack, but chooses passive defense. The route of the attacker's unmanned boat is predicted based on the general direction of the attacker's unmanned boat's movement, which must be in the direction of the target point. The defender's unmanned boat cluster forms a defense ring within the defense radius based on the speed difference between the two and waits for the opponent's attack.

4. The passive defense-based unmanned boat cluster interception method according to claim 3 is characterized in that: The specific step S2 is: for the attacking unmanned boat, the distance from the target point is R a , the speed is v a ; For the defending unmanned boat, the defense radius is R d , the speed is v d , and v d <v a ; During the entanglement between the attacking unmanned boat and the defending unmanned boat, the trajectories of both parties are regarded as concentric circles centered on the target point, and their radii are R a and R d In order to ensure that there is always an unmanned boat on the line between the attacker and the target point, there should be: Then, according to the determined defense radius, the mission target points are evenly selected on the concentric circles, and the mission points are assigned to the unmanned boat cluster through a heuristic task allocation search algorithm to perform the encirclement and interception mission.

5. The passive defense-based unmanned boat cluster interception method according to claim 1 is characterized in that: For an unmanned boat cluster of size N, the defender uses a heuristic task allocation search algorithm to allocate N task target points obtained by the prediction interception method to the N unmanned boats one by one based on known information. The heuristic task allocation search algorithm is specifically as follows: The defending unmanned boat cluster is recorded as a set The task objectives are recorded as a set The mission objective of unmanned boat i is denoted as q i , the task allocation of the entire unmanned boat swarm is recorded as Q = q1,...,q N ; For each unmanned boat i, calculate the distance dis(i,s) between it and each mission target: Taking the center of the unmanned boat cluster as a reference, the distance between each individual in the cluster and the cluster center is used as the measure of the individual relative position. Taking the center of the mission target point as a reference, the distance between each mission target point and the mission target point center is used as the measure of the mission point relative position. After re-sorting the individual relative position and the mission point relative position from near to far, a heuristic search is used. The search formula is as follows: Among them, f1(i) represents the distance ranking of the unmanned boat numbered i from the cluster center in the unmanned boat cluster, and f2(s) represents the distance ranking of the mission target point numbered s from the center of the mission target point among all mission targets.

6. The passive defense-based unmanned boat cluster interception method according to claim 1 is characterized in that: The improved artificial potential field method is specifically as follows: an artificial potential field function is set, and the movement of the unmanned boat is guided by the artificial potential field function. The artificial potential field function includes an attractive potential field and a repulsive potential field. The repulsive potential field is improved for dynamic obstacles. At the same time, in order to avoid the situation where the combined repulsive force and the gravitational force are collinear, a fictitious small perturbation repulsive force is introduced to break the equilibrium point.

7. The passive defense-based unmanned boat cluster interception method according to claim 6 is characterized in that: The improved repulsive potential field for dynamic obstacles is specifically: According to the relationship between the potential energy intensity of the repulsive field and the distance between the unmanned boat and the obstacle and the movement speed of the obstacle, the repulsive potential field is improved as follows: Among them, X i , X j Represent the position of the unmanned boat and the position of the obstacle respectively, k req is the repulsion gain coefficient, ρ(X j ,X i ) is the vector pointing from the obstacle position to the unmanned boat position, ρ o is a constant, indicating the maximum distance at which obstacles exert repulsive force on the unmanned boat, p is the direction vector of the defending unmanned boat pointing to the attacking unmanned boat, and v a,max It is the maximum speed of the defending unmanned boat.

8. The passive defense-based unmanned boat cluster interception method according to claim 1 is characterized in that: The interception effect evaluation indicators include interception results, interception time, average distance relative to the target point, error distance of the task point and interception influence factor. The interception result is whether the defended target point is destroyed; the interception time is the length of time from the time when the defending unmanned boat discovers the attacking unmanned boat to the time when the attacking boat is destroyed or the attacking boat destroys the target point; the average distance relative to the target point is used to measure the additional relative movement of the attacking unmanned boat due to the interception behavior of the defending unmanned boat; the task point error distance is used to measure the difference in distance between the defending unmanned boat and the task it needs to perform; the interception influence factor is used to measure the interception influence of the defending unmanned boat on the attacking party, which depends on the relative positions between the defending unmanned boat, the attacking unmanned boat and the target point.

9. The passive defense-based unmanned boat cluster interception method according to claim 8, characterized in that: The calculation formula of the task point error distance is as follows: Among them, N is the number of unmanned boats on the defending side, X i is the position of each defending unmanned boat i in the cluster, X s,i is the mission point location corresponding to the defending unmanned boat i.

10. The passive defense-based unmanned boat cluster interception method according to claim 8, characterized in that: The interception impact factor β L The calculation formula for ∈[0,1] is as follows: Among them, N is the number of unmanned boats on the defending side, β L,i is the individual interception impact factor of the defending unmanned boat i, which is defined as follows: Among them, R d,i represents the distance between the defending unmanned boat i and the target point, represents the angle between the i-th defender, target point and attacker, L i R represents the distance from the defending unmanned boat i to the line connecting the attacking party and the target point. a is the distance between the attacking unmanned boat and the target point.

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