Unmanned ship cluster regional breakthrough and escape method, equipment, medium and product

Abstract

The invention discloses an unmanned ship cluster regional breakthrough and escape method and device, a medium and a product, and relates to the field of unmanned mechanism control, and the method comprises the steps: obtaining the current state data of an unmanned ship cluster; obtaining the relative spatial position of each unmanned ship based on the current state data, and distributing the unmanned ships in the A-party unmanned ship cluster to obtain a breakthrough formation; based on the spatial position of each unmanned ship in the breakthrough formation, performing task allocation by adopting an auction algorithm to obtain a breakthrough formation pattern, and obtaining an escape resultant force by adopting an angle-optimized potential field method and an adaptive attack algorithm; the breakthrough formation escapes the attack of the B-party unmanned ship cluster according to the escape resultant force; if the distance between the unmanned ships in the breakthrough formation reaches a threshold value, adopting a safety avoidance mechanism based on an artificial potential field to obtain an avoidance resultant force; and the unmanned surface vehicle reaching the threshold value performs avoidance according to the avoidance resultant force. According to the invention, the success rate and flexibility of the unmanned ship cluster in the regional breakthrough task can be improved.

Description

Technical Field

[0001] The present application relates to the field of unmanned vehicle control, and particularly to a method, device, medium and product for regional breakthrough and escape of unmanned surface vehicle clusters. Background Art

[0002] With the rapid development of Unmanned Surface Vehicle (USV) technology, its applications in fields such as national defense, marine resource development, and environmental monitoring are becoming increasingly widespread. The regional breakthrough task of unmanned surface vehicles is one of the important applications. The main objective of the regional breakthrough task of unmanned surface vehicles is to complete tasks such as crossing enemy blockades, avoiding obstacles, preventing self-collisions, and reaching the designated target area through cluster collaboration and intelligent control in a complex environment. The execution of such tasks requires unmanned surface vehicles to demonstrate a high level of autonomous decision-making ability and flexible control strategies in a dynamically changing environment when facing enemy pursuit.

[0003] During the regional breakthrough process of unmanned surface vehicles, adversarial tasks are usually involved. For example, unmanned surface vehicles need to avoid enemy interception while maximizing the use of environmental characteristics and internal cluster cooperation to improve the task success rate. Traditional methods often rely on the path planning and obstacle avoidance strategies of individual unmanned surface vehicles, lacking overall coordination and dynamic response capabilities, and are difficult to adapt to changing task requirements and complex environmental conditions. Summary of the Invention

[0004] The purpose of the present application is to provide a method, device, medium and product for regional breakthrough and escape of unmanned surface vehicle clusters, which can improve the success rate and flexibility of unmanned surface vehicle clusters in regional breakthrough tasks.

[0005] To achieve the above purpose, the present application provides the following solutions:

[0006] In the first aspect, the present application provides a method for regional breakthrough and escape of unmanned surface vehicle clusters, including:

[0007] Obtain the current state data of the unmanned surface vehicle cluster of Party A and the unmanned surface vehicle cluster of Party B respectively; the current state data includes the spatial position, speed, heading angle, and angular velocity of the unmanned surface vehicle.

[0008] Based on the current state data, use the dynamic model of the unmanned surface vehicle to obtain the relative spatial positions of each unmanned surface vehicle in the unmanned surface vehicle cluster of Party A and the unmanned surface vehicle cluster of Party B respectively.

[0009] Based on the relative spatial positions of each unmanned surface vehicle, allocate the unmanned surface vehicles in the unmanned surface vehicle cluster of Party A to obtain a breakthrough formation.

[0010] Based on the spatial positions of the unmanned boats in the breakthrough formation, the auction algorithm is used for task allocation to obtain the breakthrough formation; the breakthrough formation makes a breakthrough according to the breakthrough formation;

[0011] Based on the breakthrough formation, the potential field method with angle optimization and the adaptive attack algorithm are used to obtain the escape resultant force; the breakthrough formation escapes from the attack of the unmanned boat cluster of Party B according to the escape resultant force;

[0012] Based on the current state data, it is determined whether the distance between the unmanned boats in the breakthrough formation reaches the threshold; if the threshold is reached, based on the escape resultant force, the safety avoidance mechanism based on the artificial potential field is used to obtain the avoidance resultant force; the unmanned boats that reach the threshold in the breakthrough formation make an avoidance according to the avoidance resultant force; if the threshold is not reached, no processing is performed.

[0013] Optionally, based on the relative spatial positions of the unmanned boats, the unmanned boats in the unmanned boat cluster of Party A are allocated to obtain the breakthrough formation, including:

[0014] Based on the relative spatial positions of the unmanned boats, the unmanned boats in the unmanned boat cluster of Party A are allocated to obtain the main boat and the subordinate boats;

[0015] The main boat and the subordinate boats form the breakthrough formation.

[0016] Optionally, based on the spatial positions of the unmanned boats in the breakthrough formation, the auction algorithm is used for task allocation to obtain the breakthrough formation, including:

[0017] Based on the spatial position of the main boat in the breakthrough formation, the target following point is obtained;

[0018] Based on the spatial positions of the subordinate boats and the target following point, the auction algorithm is used for task allocation to obtain the breakthrough formation.

[0019] Optionally, based on the spatial positions of the subordinate boats and the target following point, the auction algorithm is used for task allocation to obtain the breakthrough formation, including:

[0020] Based on the spatial positions of the subordinate boats and the target following point, the relative position between the subordinate boats and the target following point is obtained;

[0021] Based on the relative position, the auction algorithm is used for task allocation, and the target following point is used as the target position of the subordinate boats;

[0022] Based on the spatial position of the main boat and the target positions of the subordinate boats, the breakthrough formation is obtained.

[0023] Optionally, based on the breakthrough formation, an angle-optimized potential field method and an adaptive attack algorithm are adopted to obtain the escape resultant force, including:

[0024] Based on the breakthrough formation and the spatial positions of the unmanned boats in the unmanned boat cluster of Party B, an angle-optimized potential field method and an adaptive attack algorithm are adopted to obtain the escape resultant force.

[0025] Optionally, based on the escape resultant force, a safety avoidance mechanism based on artificial potential field is adopted to obtain the avoidance resultant force, including:

[0026] Based on the breakthrough formation, the escape resultant force, and the repulsive force between the unmanned boats, a safety avoidance mechanism based on artificial potential field is adopted to obtain the avoidance resultant force.

[0027] Optionally, the method for regional breakthrough and escape of the unmanned boat cluster further includes:

[0028] Determine whether the communication of the main boat in the formation is normal;

[0029] When the communication of the main boat is abnormal, any one of the subordinate boats in the formation is used as the new main boat to communicate with other subordinate boats.

[0030] In a second aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method for regional breakthrough and escape of the unmanned boat cluster described in any one of the above.

[0031] In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the method for regional breakthrough and escape of the unmanned boat cluster described in any one of the above.

[0032] In a fourth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of the method for regional breakthrough and escape of the unmanned boat cluster described in any one of the above.

[0033] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0034] The present application provides a method, device, medium and product for the regional breakthrough and escape of unmanned boat clusters. By obtaining the current state data of the unmanned boat cluster of Party B and the unmanned boat cluster of Party A, the relative spatial positions of each unmanned boat in the unmanned boat cluster of Party B and the unmanned boat cluster of Party A are obtained according to the dynamic model of the unmanned boat, and then the unmanned boats in the unmanned boat cluster of Party A are allocated to obtain a breakthrough formation; based on the spatial positions of each unmanned boat in the breakthrough formation, the auction algorithm is used for task allocation to obtain the breakthrough formation shape; the breakthrough formation breaks through according to the breakthrough formation shape to achieve formation breakthrough. Based on the breakthrough formation shape, the potential field method with angle optimization and the adaptive attack algorithm are used to obtain the escape resultant force, and the breakthrough formation escapes from the attack of the unmanned boat cluster of Party B according to the escape resultant force, so that the breakthrough formation can avoid the attack of the defense boats in the unmanned boat cluster of Party B. Based on the current state data, it is determined whether the distance between each unmanned boat in the breakthrough formation reaches a threshold; if so, based on the escape resultant force, a safety avoidance mechanism based on the artificial potential field is used to obtain the avoidance resultant force; the unmanned boats in the breakthrough formation that reach the threshold avoid according to the avoidance resultant force, so as to avoid collisions between each unmanned boat in the breakthrough formation. The present application comprehensively considers the dual requirements of dynamic obstacle avoidance and breakthrough task goal achievement in a complex environment, and significantly improves the success rate and flexibility of the unmanned boat cluster in the regional breakthrough task. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0036] Figure 1 It is a hierarchical strategy diagram of a method for the regional breakthrough and escape of an unmanned boat cluster in an embodiment of the present application;

[0037] Figure 2 It is a schematic flowchart of a method for the regional breakthrough and escape of an unmanned boat cluster provided by an embodiment of the present application;

[0038] Figure 3 It is a schematic structural diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0040] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] In an exemplary embodiment, as Figure 1 and Figure 2 shown, a method for regional breakthrough and escape of an unmanned boat cluster is provided. This method is executed by a computer device, and specifically, it can be executed independently by a computer device such as a terminal or a server, or jointly executed by a terminal and a server. In the embodiment of the present application, taking the application of this method to the regional breakthrough of a surface unmanned boat cluster as an example, it includes:

[0042] Step 100: Obtain the current state data of the unmanned boat cluster of Party A and the unmanned boat cluster of Party B respectively. The current state data includes the spatial position, speed, heading angle, and angular velocity of the unmanned boat. Based on the current state data, using the dynamic model of the unmanned boat, the relative spatial positions of each unmanned boat in the unmanned boat cluster of Party A and the unmanned boat cluster of Party B are obtained respectively.

[0043] Step 200: Based on the relative spatial positions of each unmanned boat, allocate the unmanned boats in the unmanned boat cluster of Party A to obtain a breakthrough formation.

[0044] Step 300: Based on the spatial positions of each unmanned boat in the breakthrough formation, use the auction algorithm for task allocation to obtain the breakthrough formation shape. The breakthrough formation breaks through according to the breakthrough formation shape.

[0045] Step 400: Based on the breakthrough formation shape, use the angle-optimized potential field method and the adaptive attack algorithm to obtain the escape resultant force. The breakthrough formation escapes from the attack of the unmanned boat cluster of Party B according to the escape resultant force.

[0046] Step 500: Based on the current state data, determine whether the distance between each unmanned boat in the breakthrough formation reaches the threshold. If it reaches the threshold, based on the escape resultant force, use the safety avoidance mechanism based on the artificial potential field to obtain the avoidance resultant force. The unmanned boats in the breakthrough formation that reach the threshold avoid according to the avoidance resultant force. If it does not reach the threshold, no processing is performed.

[0047] In practical applications, the motion capabilities of an unmanned boat cluster of one party and an unmanned boat cluster of the other party in the regional breakthrough task can be described by the dynamic model of the unmanned boat. For example, the kinematic model of an unmanned boat in a two-dimensional space can be expressed as:

[0048]

[0049] where, (p x , p y) represents the spatial position of the unmanned boat, and v, ψ, and ω respectively represent the linear velocity, heading angle, and angular velocity of the unmanned boat. a v represents acceleration, a v ∈[a v,min , a v,max . v min and v max represent the minimum and maximum values of the linear velocity. In practical applications, negative linear velocities are not considered, so v min = 0.

[0050] As an alternative implementation, in order to improve the flexibility of the method for the unmanned boat cluster to break through and escape from the area, step 200 includes: based on the relative spatial positions of the unmanned boats, allocate the unmanned boats in the A-side unmanned boat cluster to obtain the master boat and the slave boats. The master boat and the slave boats form the breakthrough formation.

[0051] In practical applications, the A-side unmanned boat cluster (i.e., our unmanned boat cluster) may include one or more master boats, and the remaining unmanned boats are all slave boats. Based on the spatial positions of the unmanned boats, the master-slave node allocation (i.e., determining the master boat and the slave boats) is realized. Among them, the determination method of the master boat (master node) is expressed as: L represents the number of the unmanned boat, represents the spatial position of the i-th master boat, represents the central position of the breakthrough area Ω p in the area breakthrough mission, and the finally selected master boat is I L . The remaining unmanned boats are all slave boats (slave nodes), and the master boat and the slave boats form the breakthrough formation. The number of breakthrough formations is determined according to the number of master boats in the unmanned boat cluster. One breakthrough area corresponds to one master boat and N slave boats, that is, one breakthrough formation breaks through one breakthrough area. It should be noted that in all the embodiments provided in this application, one breakthrough area is taken as an example for illustration.

[0052] Step 300 includes: based on the spatial position of the master boat in the breakthrough formation, obtain the target following point. Based on the spatial position of the slave boat and the target following point, obtain the relative position between the slave boat and the target following point. Based on the relative position, use the auction algorithm for task allocation, and use the target following point as the target position of the slave boat. Based on the spatial position of the master boat and the target position of the slave boat, obtain the breakthrough formation shape. The breakthrough formation breaks through according to the breakthrough formation shape.

[0053] For example, assuming that the coordinate information of the spatial position of the master boat I L is p I , and the heading angle is θ, then the coordinate information of the target following points p f1 and p f2 can be calculated by the following formula: Among them, (x m , y m ) represents the coordinate information of the reference point, and the coordinate information of the target following point is calculated based on the reference point. and respectively represent the coordinate information of the target following points p f1 and p f2 . b and h are given parameters and can be designed according to the actual situation.

[0054] The auction algorithm is adopted to determine the target following point matching the slave boat according to the relative position and relative direction between the slave boat and the target following point, and use it as the target position of the slave boat. The auction algorithm is expressed as: δ ij ∈ {0, 1}, δ ij = 0, where N is the number of slave boats and M is the number of target following points; c ij represents the cost function, c ij = d ij + λθ ij , representing the distance from the i-th slave boat to the j-th target following point p fj , θ ij represents the difference between the heading angle of the i-th slave boat and the azimuth angle of the target following point p fj , and λ represents the weight parameter; δ ij represents the decision variable, and O i represents the set of target following points that can be assigned tasks. That is, first calculate the target following points, and then use the auction algorithm to minimize the distance and heading angle difference between the slave boat and the target following point in the cost function, reduce unnecessary movement and angle adjustment, and use the optimal target following point as the target position of the slave boat according to the distance and heading angle difference between the slave boat and the target following point to ensure the coordination and stability of the breakthrough formation.

[0055] Among them, the master boat can communicate with other slave boats to allocate target following points. When the master boat fails or encounters other situations and cannot communicate, a certain slave boat in the breakthrough formation acts as the master boat and communicates with other slave boats.

[0056] Based on the spatial position of the master boat, the desired heading angle and desired linear velocity of the master boat are obtained. The desired heading ψ expL of the master boat points to the center of the breakthrough area, and the desired linear velocity v expL is set to the maximum linear velocity of the unmanned boat, which is expressed as: v expL = v max . Among them, p LIndicates the current spatial position of the main boat. The desired heading of the follower boat points to the corresponding target position, and the desired speed of the follower boat is expressed as: where p fj represents the target following point, I j represents the follower boat, I L represents the main boat, D represents the relative distance; a and q are non-linear coefficients for dynamically adjusting the speed, and according to the relative distance between the follower boat and the main boat, a smooth transition of the desired speed within different distance ranges is achieved; β and γ are distance parameters for adjusting the desired speed of the follower boat according to the distance.

[0057] Based on the desired heading and desired linear speed of the main boat and the desired linear speed of the follower boat, a breakthrough formation is obtained. The breakthrough formation makes a breakthrough according to the said breakthrough formation.

[0058] As an alternative implementation, when performing a breakthrough mission and encountering defensive unmanned boats, in order to prevent the unmanned boats in the breakthrough formation from being attacked and causing the failure of the breakthrough mission, step 400 includes: Based on the breakthrough formation and the spatial positions of each unmanned boat in the B-side unmanned boat cluster (i.e., the opponent's unmanned boat cluster), the potential field method with angle optimization and the adaptive attack algorithm are used to obtain the escape resultant force. The breakthrough formation escapes from the attack of the B-side unmanned boat cluster according to the escape resultant force, and then continues to complete the breakthrough mission.

[0059] For example, according to the angle between the velocity vector of the unmanned boat in the breakthrough formation and the center connection vector (the straight line connecting the unmanned boat in the breakthrough formation and the defensive unmanned boat), the influence range of the potential field is dynamically adjusted. The velocity vector of the unmanned boat I k in the breakthrough formation and the center connection vector The angle between them is defined as φ, where R APF = D avo (1 + k·cosφ). Where D avo represents the reference obstacle avoidance distance; k is an adjustment coefficient for controlling the variation amplitude of the potential field range R APF with φ. By dynamically adjusting the range of R APF , the artificial potential field method can flexibly adapt according to the relative position and direction relationship between the unmanned boat in the breakthrough formation and the defensive unmanned boat, thereby improving the escape efficiency. This method is simple in calculation, easy to implement, and can effectively capture the relationship between the speed direction and the connection line direction.

[0060] The calculation formula of the repulsive force is expressed as: In the formula, represents the distance between the unmanned boat in the breakthrough formation and the defensive unmanned boat, D min represents the fixed minimum escape distance, represents the repulsive force coefficient. When occurs, the unmanned boat in the breakthrough formation will be subject to the maximum and constant repulsive force ρ, ensuring its successful escape from the interception of the defensive unmanned boat. This mechanism provides a strong guarantee for a close encounter with the defensive unmanned boat, enhances the mobility and flexibility of the unmanned boat in the breakthrough formation, and improves the overall performance of the unmanned boat cluster in a dynamic scenario.

[0061] The gravitational force of the unmanned boat in the breakthrough formation is expressed as: In the formula, ∈ represents a constant of distance. In the large-scale space of the environment, usually, the unmanned boat in the breakthrough formation is subject to a relatively weak repulsive force from the defensive unmanned boat and a relatively strong attractive force from the center of the breakthrough area. This imbalance of forces may cause the unmanned boat in the breakthrough formation to fail to successfully avoid the interception of the defensive unmanned boat, thus affecting the effect of the breakthrough mission. To solve this problem, the present application adopts the distance ratio to dynamically adjust the attractive force. Furthermore, to balance the interaction between the attractive force and the repulsive force, thereby enhancing the escape ability of the breakthrough formation and improving the success rate of the breakthrough mission, the resultant force of the combined action of the attractive force and the repulsive force can be expressed as: The direction of the resultant force can be expressed as: In the formula, n represents the number of boats generating the repulsive force, and respectively represent the components of the resultant force in the y-direction and the x-direction, represents the calculated heading angle.

[0062] As an optional implementation manner, to avoid collisions between the unmanned boats in the A-side unmanned boat cluster (i.e., our unmanned boat cluster) during the actual application of the method for area breakthrough and escape of the unmanned boat cluster, step 500 includes: determining whether the distance between the unmanned boats in the breakthrough formation reaches a threshold based on the current state data. If the threshold is reached, based on the escape resultant force, a safety avoidance mechanism based on the artificial potential field is adopted to obtain the avoidance resultant force. The unmanned boats in the breakthrough formation that reach the threshold avoid according to the avoidance resultant force. If the threshold is not reached, no processing is performed.

[0063] For example, when the unmanned boat in the breakthrough formation escapes from the defensive unmanned boat according to the escape resultant force, to avoid collisions with other unmanned boats in the breakthrough formation, a safety avoidance mechanism based on the artificial potential field (APF) is deployed on each unmanned boat, and the motion trajectory of the unmanned boat during emergency collision avoidance is designed based on the artificial gravitational field. It mainly includes two forces: one is the attractive force that makes the unmanned boat move towards the target position, and the other is the repulsive force that makes the unmanned boat move away from the obstacles (i.e., other unmanned boats) in the path, thereby avoiding collisions with other unmanned boats.

[0064] The intensity of the repulsive force increases as the distance between the unmanned boat and the obstacle decreases, thus ensuring the safety of the unmanned boat during the breakthrough mission. The combined action of these two forces generates an avoidance resultant force, which determines the movement direction of the unmanned boat. The avoidance resultant force is the vector sum of the attractive force and the repulsive force, and is used to guide the unmanned boat to move towards the target position while avoiding other unmanned boats and obstacles.

[0065] The attractive potential function U att is used to pull the unmanned boat towards the target position target, and is expressed as: In the formula, p USV represents the current position of the unmanned boat, p target represents the target position, and μ att represents the attractive force coefficient. The attractive force F att is the negative gradient of the attractive potential function U att and is expressed as: The repulsive force comes from other unmanned boats and obstacles. The repulsive force field U of a single target rep can be expressed as: In the formula, μ rep represents the repulsive force coefficient used to control the magnitude of the repulsive force acting on the unmanned boat; d a represents the distance between the unmanned boat and the obstacle, and d 0 represents the influence range of the repulsive potential field. When the distance between the unmanned boat and the obstacle exceeds this range, the effect of the repulsive potential field is 0, that is, the repulsive force is 0. The repulsive force is finally expressed as:

[0066] The final avoidance resultant force F tot is expressed as: F tot =F att +F rep . The avoidance resultant force is used to determine the movement direction and speed of the unmanned boat, and guide the unmanned boat to avoid other unmanned boats and obstacles. When the distance between the unmanned boats in the breakthrough formation does not reach the threshold, when the avoidance resultant force is 0, no processing is performed.

[0067] Based on the same inventive concept, the embodiment of the present application also provides an unmanned boat cluster area breakthrough and escape system for implementing the above-mentioned unmanned boat cluster area breakthrough and escape method. The implementation solution provided by this system to solve the problem is similar to the implementation solution described in the above method. Therefore, the specific limitations in the embodiment of the unmanned boat cluster area breakthrough and escape system provided below can refer to the limitations on the unmanned boat cluster area breakthrough and escape method in the above text, and will not be repeated here.

[0068] In an exemplary embodiment, an unmanned boat cluster area breakthrough and escape system is provided, including:

[0069] A situation awareness module, which is used to monitor the status data of the opponent's unmanned boat cluster and our unmanned boat cluster in real time, and obtain the current status data of the opponent's unmanned boat cluster and our unmanned boat cluster;

[0070] A communication module, connected to the situation awareness module, is used to transmit the current status data and task instructions;

[0071] A decision-making calculation module, connected to the communication module, is used to obtain the task instructions according to the current status data;

[0072] A bottom layer controller, connected to the communication module, is used to control the unmanned boat according to the task instructions.

[0073] This application can solve the problem of dynamic formation of unmanned boats in a high-dimensional complex environment, improve the autonomous obstacle avoidance and efficient breakthrough capabilities of unmanned boats under dynamic threats, and can be flexibly adjusted according to the requirements of breakthrough tasks, improving the adaptability and combat capabilities of unmanned boat clusters in diverse task scenarios.

[0074] In an exemplary embodiment, a computer device is provided. The computer device can be a server or a terminal, and its internal structure diagram can be as Figure 3 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data of the method for regional breakthrough and escape of unmanned boat clusters. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for regional breakthrough and escape of unmanned boat clusters.

[0075] Those skilled in the art can understand, Figure 3The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. In an exemplary embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps in the above method embodiments are implemented.

[0076] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0077] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0078] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments. Among them, any reference to a memory, database, or other medium used in the various embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0079] In each of the embodiments provided in the present application, the database involved may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., without limitation. In each of the embodiments provided in the present application, the processor may be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without limitation.

[0080] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0081] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for breaking through and escaping an area of ​​an unmanned boat cluster, characterized in that: The unmanned boat cluster area breakthrough and escape method includes: Respectively obtain the current status data of the unmanned boat cluster of party A and the unmanned boat cluster of party B; the current status data includes the spatial position, speed, heading angle and angular velocity of the unmanned boat; Based on the current state data, the relative spatial positions of the unmanned boats in the unmanned boat cluster of party A and the unmanned boat cluster of party B are obtained by using the dynamic model of the unmanned boat. Based on the relative spatial positions of the unmanned boats, the unmanned boats in the unmanned boat cluster of party A are allocated to obtain a breakthrough formation; Based on the spatial position of each unmanned boat in the breakthrough formation, an auction algorithm is used to allocate tasks to obtain a breakthrough formation formation; the breakthrough formation performs a breakthrough according to the breakthrough formation formation; Based on the breakthrough formation, an angle-optimized potential field method and an adaptive attack algorithm are used to obtain an escape force; the breakthrough formation escapes the attack of the unmanned boat cluster of party B according to the escape force; Based on the current state data, determine whether the distance between the unmanned boats in the breakthrough formation reaches a threshold; if the threshold is reached, based on the escape force, a safe avoidance mechanism based on an artificial potential field is adopted to obtain an avoidance force; the unmanned boats in the breakthrough formation that reach the threshold avoid according to the avoidance force; if the threshold is not reached, no processing is performed.

2. The unmanned boat cluster area breakthrough and escape method according to claim 1 is characterized in that: Based on the relative spatial positions of the unmanned boats, the unmanned boats in the unmanned boat cluster of party A are allocated to obtain a breakthrough formation, including: Based on the relative spatial positions of the unmanned boats, the unmanned boats in the unmanned boat cluster of party A are allocated to obtain a master boat and a slave boat; The main boat and the slave boat constitute the breakthrough formation.

3. The unmanned boat cluster area breakthrough and escape method according to claim 2 is characterized in that: Based on the spatial position of each unmanned boat in the breakthrough formation, an auction algorithm is used to allocate tasks to obtain the breakthrough formation formation, including: Based on the spatial position of the main boat in the breakthrough formation, a target following point is obtained; Based on the spatial position of the slave boat and the target following point, an auction algorithm is used to allocate tasks to obtain the breakthrough formation.

4. The method for breaking through and escaping an unmanned boat cluster area according to claim 3 is characterized in that: Based on the spatial position of the slave boat and the target following point, an auction algorithm is used to perform task allocation to obtain the breakthrough formation, including: Based on the spatial position of the slave boat and the target following point, obtaining the relative position of the slave boat and the target following point; Based on the relative position, the auction algorithm is used to perform task allocation, and the target following point is used as the target position of the slave boat; The formation of the breakthrough fleet is obtained based on the spatial position of the main boat and the target position of the slave boat.

5. The method for breaking through and escaping an unmanned boat cluster area according to claim 1 is characterized in that: Based on the breakthrough formation, the angle-optimized potential field method and adaptive attack algorithm are used to obtain the escape force, including: Based on the breakthrough formation and the spatial position of each unmanned boat in the B party unmanned boat cluster, the angle-optimized potential field method and adaptive attack algorithm are used to obtain the escape force.

6. The unmanned boat cluster area breakthrough and escape method according to claim 1 is characterized in that: Based on the escape force, a safety avoidance mechanism based on an artificial potential field is adopted to obtain an avoidance force, including: Based on the breakthrough formation, the escape resultant force and the repulsive force between the unmanned boats, a safety avoidance mechanism based on an artificial potential field is adopted to obtain the avoidance resultant force.

7. The method for breaking through and escaping an unmanned boat cluster area according to claim 3 is characterized in that: The unmanned boat cluster area breakthrough and escape method also includes: Determine whether the communication of the main boat is normal in the formation; When the communication of the master boat is abnormal, any slave boat in the formation is used as a new master boat to communicate with other slave boats.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the unmanned boat cluster area breakthrough and escape method described in any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the unmanned boat cluster area breakthrough and escape method described in any one of claims 1-7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the unmanned boat cluster area breakthrough and escape method described in any one of claims 1-7 is implemented.

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