A regional search method of heterogeneous unmanned surface vehicle cluster

Abstract

This invention belongs to the field of surface detection technology and discloses a method for regional search of heterogeneous unmanned surface vessel (USV) swarms. First, based on the performance differences of the heterogeneous USV swarm, the task area is divided, generating a USV swarm task allocation scheme. Then, based on the USV task allocation results, a region coverage method is designed to generate a USV swarm detection array and plan the region search trajectory of each USV. Finally, under the constraints of the number of USVs and performance parameters, the planned path is tracked to achieve region search of the heterogeneous USV swarm. The method described in this invention, by forming a heterogeneous USV swarm coverage detection scheme in typical scenarios, can effectively improve the detection probability of heterogeneous USV swarms of random targets, and simultaneously improve the region coverage efficiency of the heterogeneous USV swarm.

Description

Technical Field

[0001] This invention belongs to the field of water surface detection technology, specifically relating to a method for regional search of heterogeneous unmanned surface vessel swarms. Background Technology

[0002] Unmanned surface vessels (USVs) have garnered significant attention due to their modular design, unmanned operation, and high level of intelligence. They can be flexibly configured with various sensors and actuators to meet diverse and complex operational needs. In marine exploration and development, USVs play a crucial role, demonstrating unique advantages in both precise marine environmental parameter measurement and participation in marine ecosystem restoration and protection. Furthermore, USVs exhibit significant efficiency in area search and target detection, and researchers are focusing on how to undertake area search tasks with greater detection range and higher efficiency. The "Z"-shaped detection pattern, as a basic area coverage method, has been widely applied in maritime search and detection missions, such as the discovery and search for personnel on wrecked vessels and the detection and monitoring of unknown targets. High-precision and high-efficiency target detection strategies are the goal of area search. To leverage the advantages of USV swarm platforms in area search and target detection, and considering the differences in performance parameters among USVs, heterogeneous USV swarm area search methods for random targets are a key research focus.

[0003] However, existing research has three limitations: First, current detection trajectory planning strategies mainly target homogeneous UAV swarms, failing to fully utilize the characteristics and advantages of heterogeneous UAVs; second, they lack the decomposition of detection tasks and task allocation for UAVs, instead often employing a strategy of searching an entire area as a whole. This search method, without regional division, fails to fully leverage the detection advantages of UAVs with strong detection capabilities, nor can it fully utilize the relay advantages of UAVs with strong communication capabilities; finally, traditional "Z"-shaped detection paths suffer from overlapping turning areas (e.g., Figure 5 (As shown in the black box), this not only leads to a waste of the performance of high-detection unmanned surface vessels, but also increases the travel distance of the unmanned surface vessel swarm, thereby reducing the overall detection efficiency of the unmanned surface vessel swarm. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a region search method for heterogeneous unmanned surface vessel (USV) swarms. By taking into account the performance parameter differences among heterogeneous USVs, the method extends the USV swarm region search method from homogeneous USV swarms to heterogeneous USV swarms, generates a task allocation scheme for the heterogeneous USV swarm, and plans the coverage detection trajectory of the heterogeneous USV swarm. By forming a heterogeneous USV swarm coverage detection scheme in typical scenarios, the detection probability of the USV swarm for random targets and the coverage efficiency of the target area are improved.

[0005] The method for regional search of a heterogeneous unmanned surface vessel swarm as described in this invention includes the following steps:

[0006] Step 1: Based on the task area where the target appears, and considering the number of unmanned surface vessels (USVs) and the performance parameters of heterogeneous USVs, divide the task area into multiple sub-task areas and generate a heterogeneous USV cluster task allocation scheme.

[0007] Step 2: Based on the task allocation results of the heterogeneous unmanned surface vessel (USV) swarm, generate the USV swarm detection array, plan the USV swarm detection trajectory, and provide the regional search strategy for the heterogeneous USV swarm.

[0008] Step 3: Under the constraints of the number of unmanned surface vessels and performance parameters, track the planned path to achieve regional search of the heterogeneous unmanned surface vessel cluster.

[0009] Furthermore, step 1 specifically includes:

[0010] Step 1-1: Define a random target running within a square task region with a horizontal length of L and a vertical length of W, at a speed of... The direction of operation is unknown; N unmanned surface vessels (USVs) are currently performing target detection missions within this square-shaped mission area, and the turning radius of each USV is... The detection radius, communication radius, and maximum operating speed each have two random possible values, respectively. and , and as well as and ;

[0011] Steps 1-2: Consider a swarm of homogeneous unmanned surface vessels, i.e., a detection radius of... Communication radius is Maximum operating speed is Minimum turning radius is Establish a rectangular coordinate system with the lower left corner of the task area as the origin, and divide the task area into several sub-regions according to the default area division scheme.

[0012] Steps 1-3: Determine the rationality of the isomorphic unmanned surface vessel cluster area division scheme. If the determination result is unreasonable, optimize and update the division result.

[0013] Steps 1-4: Based on the results of the isomorphic unmanned surface vessel (USV) cluster region division, perform task allocation for the isomorphic USV cluster.

[0014] Steps 1-5: Based on the results of steps 1-2 to 1-4, design a task area partitioning scheme and an unmanned surface vessel task allocation scheme for heterogeneous unmanned surface vessel (USV) clusters.

[0015] Furthermore, in steps 1-2, the region division scheme for the isomorphic unmanned surface vessel cluster is as follows:

[0016] Step 1-2-1: Calculate the baseline side length of the standard sub-region. To ensure normal communication between unmanned surface vessels (USVs), the communication radius of a USV should cover adjacent standard sub-regions. Therefore, the reference side length of the standard sub-region... The relation needs to be satisfied. Therefore, ;

[0017] Step 1-2-2: Determine the number of standard sub-regions And update the horizontal length of the standard subregion. and longitudinal length ;

[0018] like and This indicates that the communication radius of the unmanned surface vessel covers the entire mission area, and in this case, it is no longer necessary to divide the mission area, and the number of standard sub-regions is [not specified]. equal Horizontal length equal Longitudinal length equal ;

[0019] like and The number of standard subregions equal The quotient of the operation, the horizontal length equal Longitudinal length equal ;

[0020] like and The number of standard subregions equal The quotient of the operation, the horizontal length equal Longitudinal length equal ;

[0021] If satisfied and The number of standard subregions equal Quotients of operations The product of the quotients of the operation, horizontal length and longitudinal length All equal to ;

[0022] Steps 1-2-3: Determine the number n of all sub-regions;

[0023] If satisfied and Then the number of subregions n equals 1; if satisfying , as well as If the remainder of the operation is 0, then the number of subregions n is equal to... The quotient of the operation;

[0024] If satisfied , as well as If the remainder of the operation is not equal to 0, then the number of subregions n equals Add 1 to the quotient of the operation;

[0025] If satisfied , as well as If the remainder of the operation is 0, then the number of subregions n is equal to... The quotient of the operation;

[0026] If satisfied , as well as If the remainder of the operation is not equal to 0, then the number of subregions n equals Add 1 to the quotient;

[0027] If satisfied , as well as Sum of remainders in operations If the remainder of all operations is 0, then the number of subregions n is equal to... Quotients of operations The product of quotients in an operation;

[0028] If satisfied , as well as Sum of remainders in operations If the remainder of the operation is non-zero, then the number of subregions n is equal to... Quotients of operations Add 1 to the product of the quotients in the operation;

[0029] If satisfied , as well as Sum of remainders in operations The remainder of the operation is not equal to Then the number of subregions equal Quotients of operations Add 2 to the product of the quotients in the operation;

[0030] Steps 1-2-4: Number all sub-regions according to the following rules: first number the standard sub-regions of the same size, then number the non-standard sub-regions of different sizes; number the left sub-regions first, then the right sub-regions; number the lower sub-regions first, then the upper sub-regions.

[0031] Furthermore, steps 1-3 are as follows:

[0032] Step 1-3-1, Analysis of the rationality of regional division:

[0033] If the number of unmanned surface vessels (USVs) N is greater than or equal to the number of sub-regions n, it indicates that the USV swarm can cover the entire mission area, and the default region division scheme is reasonable.

[0034] If the number of unmanned surface vessels N is less than the number of sub-regions n, it indicates that the current region division rule cannot support full coverage of the mission area, and the default region division scheme is unreasonable.

[0035] Step 1-3-2: Optimize and update the region division results:

[0036] If the default region division scheme is reasonable, the relevant parameters for region division will remain consistent with the default region division result and will not need to be updated.

[0037] If the default region division scheme is unreasonable, some unmanned surface vessels (USVs) are selected to act as communication intermediaries to maintain communication between USVs in two standard sub-regions located diagonally opposite each other. These USVs do not perform coverage detection tasks; they only rotate at their deployment locations with the minimum turning radius. The baseline side length of the standard sub-regions is then updated. Satisfying the relation Thus we can obtain Based on steps 1-2-2 to 1-2-4, update the horizontal length of the standard sub-region. Vertical length of standard sub-region Number of standard sub-regions The number of all subregions, n.

[0038] Furthermore, in steps 1-4, the number of unmanned surface vessels for detection is defined as follows: The number of unmanned surface vessels used for communication intermediaries is sub-region The number of unmanned surface vessels inside is ,in The specific task allocation scheme for isomorphic unmanned surface vessel (USV) swarms is as follows:

[0039] Step 1-4-1: If the default area division scheme of the unmanned surface vessel (USV) swarm is reasonable, then USVs do not need to act as communication intermediaries, and all USVs perform detection tasks. In this case, the number of communication intermediary USVs... equal Detect the number of unmanned surface vessels equal ;

[0040] Step 1-4-2: To determine the number of unmanned surface vessels (USVs) in each sub-region, firstly, The unmanned surface vessel is divided into indivual Sub-clusters and indivual Sub-clusters, satisfying ,in Number of sub-clusters equal The remainder of the operation, Number of sub-clusters equal Next, regarding Sub-cluster, defining its number of unmanned surface vessels as ,like ,but equal The quotient of the operation plus Otherwise, if ,but equal Finally, regarding Sub-cluster, defining its number of unmanned surface vessels as ,like ,but equal The quotient of the operation, otherwise, if ,but equal The parameters satisfy the following relationship: ;

[0041] Step 1-4-3: If the default area division scheme is unreasonable, some unmanned surface vessels (USVs) will need to act as communication intermediaries. The number of USVs acting as communication intermediaries is... The number of horizontal divisions compared to the standard sub-region and the number of vertical divisions related, , equal The quotient of the operation equal The quotient of the operation. The number of unmanned surface vessels used for lateral communication is defined as... The number of unmanned surface vessels used for vertical communication is ,satisfy , and The rules for determining this are as follows:

[0042] like If it is an odd number, then equal The integer part of the result of the operation;

[0043] like If it is even, then equal Add 1 to the integer part of the result.

[0044] like If it is an odd number, then equal The integer part of the result of the operation;

[0045] like If it is even, then equal Add 1 to the integer part of the result.

[0046] Detect the number of unmanned surface vessels equal ,like , this Substituting the values ​​from steps 1-4-2 will yield the number of unmanned surface vessels (USVs) in each sub-region; otherwise, if This indicates that the above-mentioned area division scheme and task allocation scheme are mismatched, and the number and performance of the unmanned surface vessels (USVs) cannot guarantee full task area coverage under real-time cluster communication conditions. In this case, the backup strategy is implemented, that is, task area division is no longer performed, and all USVs uniformly perform coverage detection tasks, i.e., the number of standard sub-regions is updated. The number of sub-regions is 1, the horizontal length is L, the vertical length is W, and the number of unmanned surface vessels is 1. Let N be the number of unmanned surface vessels used for communication. It is 0.

[0047] Furthermore, in steps 1-5, the communication radius is defined as... and The unmanned surface vessels are respectively Type of unmanned surface vessel and Type of unmanned surface vessel, corresponding to the number of unmanned surface vessels as follows , And assume Specifically:

[0048] Step 1-5-1, Planning The working area of ​​the unmanned surface vessel: based on the complete mission area. The working area of ​​the unmanned surface vessel is, with An unmanned surface vessel with arbitrary detection and communication range. Arbitrary operating speed, minimum turning radius As parameters, the region division and task allocation scheme of the isomorphic unmanned surface vessel (USV) cluster is executed sequentially from steps 1-2 to 1-4, resulting in... Number of sub-regions based on type of unmanned surface vessel Number of standard sub-regions Horizontal length of standard sub-region Vertical length of standard sub-region Detection of the number of unmanned surface vessels Number of unmanned surface vessels used for communication intermediaries and the number of unmanned surface vessels in each standard sub-area. ;

[0049] If steps 1-4 are executed, the result is as follows: The design scheme based on the unmanned surface vessel is reasonable, meaning that a "backup strategy" is not required, which indicates... The working area of ​​this type of unmanned surface vessel is the entire mission area;

[0050] If steps 1-4 are executed, the result is as follows: The design based on the existing unmanned surface vessel is unreasonable; that is, a "backup strategy" needs to be implemented, so an update is required. Lateral length of the standard sub-region of the unmanned surface vessel and longitudinal length These are the horizontal and vertical lengths generated in step 1-2-2 of the default region division scheme in step 1-2, respectively. Update accordingly. The working area of ​​this type of unmanned surface vessel is arbitrary. Block standard sub-region;

[0051] Step 1-5-2, Planning Working area of ​​the unmanned surface vessel:

[0052] like The working area of ​​this type of unmanned surface vessel is the entire mission area. The working area of ​​this type of unmanned surface vessel is arbitrary;

[0053] like If the working area of ​​the unmanned surface vessel is not the entire mission area, then... The default working area for this type of unmanned surface vessel is the complete mission area excluding... The remaining area of ​​the unmanned surface vessel's working area;

[0054] Step 1-5-3, Update Working area of ​​the unmanned surface vessel:

[0055] like If the working area of ​​the unmanned surface vessel is the entire mission area, then the area division scheme is reasonable. The working area of ​​this type of unmanned surface vessel is arbitrary;

[0056] like The working area of ​​this type of unmanned surface vessel is not the entire mission area, and When the default working area of ​​a type of unmanned surface vessel is a single square area, this square area is used as... The working area of ​​the unmanned surface vessel is, with An unmanned surface vessel with arbitrary detection and communication range. Arbitrary operating speed, minimum turning radius Given the parameters, by sequentially executing the region division and task allocation schemes for isomorphic unmanned surface vessels from steps 1-2 to 1-4, we can obtain the following: Number of sub-regions based on type of unmanned surface vessel Number of standard sub-regions Horizontal length of standard sub-region Vertical length of standard sub-region Detection of the number of unmanned surface vessels Number of unmanned surface vessels used for communication intermediaries and the number of unmanned surface vessels in each standard sub-area. If steps 1-4 are executed, the result is as follows: The design scheme based on the unmanned surface vessel is reasonable, meaning that a "backup strategy" is not required, which indicates... The unmanned surface vessel can complete the coverage detection of the remaining area; otherwise, if steps 1-4 are performed, the result obtained is... If the design based on the existing unmanned surface vessel is unreasonable, then a "backup strategy" will be implemented.

[0057] like The working area of ​​this type of unmanned surface vessel is not the entire mission area, and When the working area of ​​a type of unmanned surface vessel (USV) is a combination of multiple rectangular areas, each of these rectangular areas is used as the working area. Simultaneously, steps 1-2 to 1-4 of the isomorphic USV area division and task allocation scheme are executed sequentially, resulting in... The number of sub-regions within each shaped area based on the type of unmanned surface vessel and Number of standard sub-regions and Horizontal length of standard sub-region Vertical length of standard sub-region Detection of the number of unmanned surface vessels Number of unmanned surface vessels used for communication intermediaries and the number of unmanned surface vessels in the standard sub-area If the number of unmanned surface vessels for detection in all areas is greater than If the area division scheme is reasonable, the heterogeneous unmanned surface vessel (USV) cluster area division scheme has been designed. Otherwise, if the number of USVs in a certain area is less than or equal to... If so, the "backup strategy" will be executed, and the subsequent operations in step 1 will not be executed. Instead, the process will be directly adjusted to step 2.

[0058] Step 1-5-4, Unmanned Surface Vessel (USV) Task Assignment:

[0059] for The task allocation scheme for the unmanned surface vessel has been obtained in step 1-5-1 and remains unchanged.

[0060] for For unmanned surface vessels (USVs), if their working area is arbitrary, then the number of USVs will be... Number of sub-regions Substitute into step 1-4-2, and thus... Type of unmanned surface vessel assigned to target The working area of ​​the unmanned surface vessel;

[0061] for Type of unmanned surface vessel, if The working area of ​​this type of unmanned surface vessel is not the entire mission area, and it meets the following requirements: At that time, due to The radius of the corresponding sub-region of the type unmanned surface vessel is greater than The radius of the sub-region corresponding to the type of unmanned surface vessel (USV) is adjusted to improve the probability of target detection. The number of USVs is also adjusted. Number of sub-regions Substitute into step 1-4-2, and indivual Type of unmanned surface vessel for reconnaissance assigned to The type of unmanned surface vessel corresponds to the sub-region;

[0062] for Type of unmanned surface vessel, if The working area of ​​this type of unmanned surface vessel is not the entire mission area, and it meets the following requirements: At the same time, maintain the state in step 1-5-3. The task allocation results for the unmanned surface vessel.

[0063] Furthermore, step 2 specifically involves:

[0064] Step 2-1: Based on the deployment location rules of the communication intermediary unmanned surface vessel (USV), determine the deployment location of the USV, specifically as follows:

[0065] Step 2-1-1: Execute the following statement repeatedly until the deployment locations of all longitudinal communication intermediary unmanned surface vessels are determined:

[0066] If the number of standard sub-regions above the current communication sub-region is greater than or equal to 2, then update the communication sub-region to the second sub-region above the current communication sub-region;

[0067] If the number of standard sub-regions above the current communication sub-region is equal to 1, and there are non-standard sub-regions above it, then update the communication sub-region to the first sub-region above the current communication sub-region;

[0068] If the number of standard sub-regions above the current communication sub-region is equal to 1, and there are no non-standard sub-regions above, then the deployment position of the vertical communication intermediary unmanned surface vessel is determined.

[0069] If there is no sub-region above the current communication sub-region, the deployment location of the vertical communication intermediary unmanned surface vessel is determined.

[0070] Step 2-1-2: Repeat the following statement until the deployment locations of all lateral communication intermediary unmanned surface vessels are determined:

[0071] If the number of standard sub-regions to the right of the current communication sub-region is greater than or equal to 2, then update the communication sub-region to the second sub-region to the right of the current communication sub-region;

[0072] If the number of standard sub-regions to the right of the current communication sub-region is equal to 1, and there are non-standard sub-regions to the right, then update the communication sub-region to the first sub-region above the right communication sub-region.

[0073] If the number of standard sub-regions to the right of the current communication sub-region is equal to 1, and there are no non-standard sub-regions to the right, then the deployment location of the horizontal communication intermediary unmanned surface vessel is determined.

[0074] If there is no sub-region to the right of the current communication sub-region, the deployment location of the lateral communication intermediary unmanned surface vessel is determined.

[0075] Step 2-1-3: Draw horizontal lines based on the deployment positions of all longitudinal communication intermediary unmanned surface vessels (USVs), and draw vertical lines based on the deployment positions of all transverse communication intermediary USVs. The intersection of each horizontal line and each vertical line represents the deployment position of a communication intermediary USV. At this point, the deployment positions of all communication intermediary USVs have been determined.

[0076] Step 2-2: Deploy the unmanned surface vessel (USV) for detection within the sub-region, specifically as follows:

[0077] The two types of detection radii defined by the heterogeneity of unmanned surface vessels are as follows: and They are respectively called Type of unmanned surface vessel and Type of unmanned surface vessel, in the first Within the block area, the corresponding number of unmanned surface vessels are as follows: , To satisfy one of them , ;

[0078] The initial deployment positions of each unmanned surface vessel are as follows: For the first... Block area, will The unmanned surface vessels (USVs) are horizontally deployed in a horizontal "I" shape from left to right in the lower left position of the sub-area. The USVs are arranged sequentially from left to right as follows: They are numbered, and the corresponding detection radii are respectively All unmanned surface vessels have the same initial ordinate, but different initial abscissas; the specific rules for determining the initial coordinates are as follows:

[0079] 1) Determining the initial ordinate of the unmanned surface vessel (USV) swarm:

[0080] like Then the initial ordinate of all unmanned surface vessels is equal to the first... Add the bottom left corner y-coordinate of the block area ;

[0081] like Then the initial ordinate of all unmanned surface vessels is equal to the first... Add the bottom left corner y-coordinate of the block area ;

[0082] like and Then the initial ordinate of all unmanned surface vessels is equal to the first... Add the bottom left corner y-coordinate of the block area ;

[0083] 2) Determining the initial x-coordinate of the unmanned surface vessel (USV) swarm:

[0084] The initial x-coordinate is the first Add the horizontal coordinate of the bottom left corner of the block area The detection radius of the unmanned surface vessel (USV) is determined by the initial x-coordinate of the USV to its left, the detection radius of the USV to its left, and the detection radius of the USV itself.

[0085] In summary, regarding the... The detection width of an unmanned surface vessel swarm consisting of [number] unmanned surface vessels is [width]. .

[0086] Steps 2-3: Plan the trajectory of the unmanned surface vessel (USV), specifically as follows:

[0087] If subregion Unmanned surface vessel swarm detection width This means that all unmanned surface vessels (USVs) only need to form a horizontal line and navigate the mission area once without turning to complete the coverage search of the area. At this point, the initial x-coordinates of each USV need to be updated. The update rule is: multiply the initial x-coordinates of all USVs by a coefficient. ,in equals (subregion) (Bottom right x-coordinate / x-coordinate of the rightmost unmanned surface vessel);

[0088] If subregion Unmanned surface vessel swarm detection width If the result is positive, it means that the unmanned surface vessel (USV) swarm needs to turn around to achieve full coverage of the area. At this time, the initial horizontal coordinate of each USV remains the result of step 2-1, and the running trajectory of each USV is planned by using an optimized "Z" shaped coverage strategy.

[0089] Furthermore, an optimized "Z"-shaped coverage strategy is adopted to plan the operating trajectories of each unmanned surface vessel, specifically including:

[0090] 1) In the initial stage, all unmanned surface vessels move horizontally upwards at their respective speeds;

[0091] 2) Design the initial turning position of each unmanned surface vessel (USV), based on the relationship between each USV and the sub-region. The upper limit distance is the minimum turning radius after each unmanned surface vessel reaches the turning position. Turn right, and after the turn is completed, each unmanned surface vessel will move horizontally to the right;

[0092] 3) When each unmanned surface vessel travels a preset distance to the right to reach the next turning position, it will use the minimum turning radius. Turn downwards and move vertically downwards;

[0093] 4) Based on the lower bound distance between each unmanned surface vessel and sub-region i, each unmanned surface vessel uses the minimum turning radius. Turn right and move horizontally to the right;

[0094] 5) After each unmanned surface vessel (USV) travels a preset distance to the right, it then turns with the minimum turning radius. By turning upwards and moving vertically upwards, the unmanned surface vessel swarm achieves area coverage in one cycle.

[0095] 6) Repeat steps 1)-5) above until the task area is completed. Complete coverage.

[0096] Furthermore, step 3 specifically involves:

[0097] The horizontal length of the task area is limited to Longitudinal length is The total number of unmanned surface vessels is limited to [number]. The detection radius of each unmanned surface vessel is and For any one of them, the communication radius is and For any one of them, the maximum running speed is and For any one of them, the minimum turning radius is Using the aforementioned task area division scheme and unmanned surface vessel (USV) task allocation scheme, the task area is divided into multiple sub-regions, and the operating trajectory of each USV is defined. The detection status of targets within each sub-region after the USV achieves complete coverage of the sub-region is statistically analyzed. If a target is detected, it is recorded as "". Otherwise, record it as " The target detection results within the complete task area are obtained by performing a logical "OR" operation on the target detection results of each sub-region. Finally, the detection probability of random targets is obtained by repeating the experiment multiple times.

[0098] The beneficial effects of this invention are as follows: This invention extends the area coverage detection scheme from homogeneous UAV swarms to heterogeneous UAV swarms. By forming a heterogeneous UAV swarm coverage detection scheme in typical scenarios, it improves the detection probability and area coverage efficiency of the UAV swarm for random targets. Finally, simulation experiments are used to obtain the target detection probability and area coverage efficiency, verifying the effectiveness of the proposed scheme. The method of this invention leverages the detection advantages of UAVs with strong detection capabilities and the relay advantages of UAVs with strong communication capabilities. It adopts a block search strategy instead of the strategy of searching the entire area as a whole. It uses an optimized "Z"-shaped detection path to solve the problem of overlapping turning paths in existing ordinary Z-shaped detection paths and optimizes the swarm's navigation distance. The method of this invention can improve the detection probability and area coverage efficiency of heterogeneous UAV swarms for random targets, thereby enabling reasonable and effective task allocation and formation deployment under the constraints of a limited number of UAVs and specified UAV parameters, improving the success rate of target detection and area coverage efficiency. Attached Figure Description

[0099] Figure 1 This is a flowchart of the method described in this invention;

[0100] Figure 2 This is a schematic diagram showing the division and numbering of mission areas for isomorphic unmanned surface vessel (USV) clusters;

[0101] Figure 3 This is a schematic diagram showing the division and numbering of mission areas for heterogeneous unmanned surface vessel (USV) clusters;

[0102] Figure 4 This is a schematic diagram of the unmanned surface vessel's trajectory (mission area). Inside)

[0103] Figure 5 This is a schematic diagram of the operating trajectories of each unmanned surface vessel in Scheme 1;

[0104] Figure 6 This is a schematic diagram of the operating trajectories of each unmanned surface vessel in Scheme 2;

[0105] Figure 7 This is a schematic diagram of the operating trajectories of each unmanned surface vessel in the present invention.

[0106] Figure 8 This is a schematic diagram illustrating the probability of target detection.

[0107] Figure 9 This is a diagram illustrating regional coverage efficiency. Detailed Implementation

[0108] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0109] like Figure 1 As shown, the method for regional search of a heterogeneous unmanned surface vessel swarm according to the present invention includes the following steps:

[0110] Step 1: Based on the task area where the target appears, and considering the number of unmanned surface vessels (USVs) and the performance parameters of heterogeneous USVs, divide the task area into multiple sub-task areas and generate a heterogeneous USV cluster task allocation scheme.

[0111] Step 2: Based on the task allocation results of the heterogeneous unmanned surface vessel (USV) swarm, generate the USV swarm detection array, plan the USV swarm detection trajectory, and provide the regional search strategy for the heterogeneous USV swarm.

[0112] Step 3: Under the constraints of the number of unmanned surface vessels and performance parameters, track the planned path to achieve regional search of the heterogeneous unmanned surface vessel cluster.

[0113] Step 1 specifically includes the following steps:

[0114] Step 1-1: Given a random target with a horizontal length of... Longitudinal length It runs within a square task area, with a running speed of [missing value]. The direction of operation is unknown, and the current situation is as follows. An unmanned surface vessel (USV) performs target detection missions within this angular mission area. The performance parameters of the USVs involved in this invention include detection radius, communication radius, maximum operating speed, and minimum turning radius. As shown in Table 1, the turning radii of all USVs are... The detection radius, communication radius, and maximum operating speed each have two random possible values, respectively. and , and as well as and A progressive design approach, from homogeneous to heterogeneous, is adopted to divide the mission area and allocate unmanned surface vessel (USV) tasks.

[0115] Table 1 Performance Parameters of Unmanned Surface Vessels

[0116]

[0117] Steps 1-2: Consider a homogeneous unmanned surface vessel (USV) swarm, where all USVs have identical performance parameters, including a detection radius of [missing information]. Communication radius is Maximum operating speed is Minimum turning radius is Analysis of mission characteristics clarifies that the division of the mission area must simultaneously ensure complete coverage and normal communication between unmanned surface vessels (USVs). Furthermore, the more mission areas there are, the higher the probability of detecting random targets. A Cartesian coordinate system is established with the lower left corner of the mission area as the origin, dividing the mission area into multiple standard sub-regions of the same size and several non-standard sub-regions of different sizes. The default area division scheme is as follows, and the relevant parameters are shown in Table 2.

[0118] Table 2 Summary of parameters for the isomorphic unmanned surface vessel cluster regional division scheme

[0119]

[0120] Figure 2 by , For example, a diagram showing the division and numbering of task areas was drawn.

[0121] Steps 1-3: Determine the rationality of the isomorphic unmanned surface vessel cluster area division scheme and optimize and update the division results;

[0122] Steps 1-4: Based on the results of the isomorphic unmanned surface vessel (USV) cluster area division, formulate a task allocation scheme for the isomorphic USV cluster.

[0123] As analyzed above, unmanned surface vessels (USVs) have two mission types: coverage reconnaissance and communication mediation. Therefore, the objectives of USV mission allocation include determining the number of reconnaissance USVs and communication mediation USVs, as well as determining the number of reconnaissance USVs within each sub-region. The number of reconnaissance USVs is defined as follows: The number of unmanned surface vessels used for communication intermediaries is sub-region The number of unmanned surface vessels inside is ,in The specific task allocation scheme for the isomorphic unmanned surface vessel cluster is as follows, and the relevant parameters are shown in Table 3.

[0124] Table 3 Summary of parameters for the task allocation scheme of the homogeneous unmanned surface vessel swarm

[0125]

[0126] Steps 1-5: The performance parameters of the unmanned surface vessel (USV) considered in this invention include detection radius, communication radius, maximum operating speed, and minimum turning radius. Among them, the detection radius, communication radius, and maximum operating speed exhibit heterogeneous performance. Based on the structure of steps 1-2 to 1-4, a task area division scheme and an USV task allocation scheme are designed for heterogeneous USV clusters.

[0127] It is important to note that the task area partitioning scheme and task allocation scheme for heterogeneous unmanned surface vessel (USV) swarms are only related to the communication radius of the USVs. and Related. The communication radius is defined as... and The unmanned surface vessels are respectively Type of unmanned surface vessel and Type of unmanned surface vessel, corresponding to the number of unmanned surface vessels as follows , And assume The design concept for the task area partitioning scheme and task allocation scheme of heterogeneous unmanned surface vessel (USV) swarms is as follows: Two types of USVs with heterogeneous communication radii are handled separately, first based on... The unmanned surface vessel is divided into areas, and then based on Delineate areas for unmanned surface vessels; plan ahead. The working area of ​​the unmanned surface vessel needs to be replanned. The working area of ​​the unmanned surface vessel is defined below. The specific area division and task allocation scheme are as follows, and the relevant parameters are shown in Table 4.

[0128] Table 4 Summary of parameters for heterogeneous unmanned surface vessel (USV) cluster regional division and task allocation scheme

[0129]

[0130] Figure 3 by , , , , For example, a diagram showing the division and numbering of task areas was drawn.

[0131] The process for step 2 is as follows:

[0132] Step 2-1: Based on Step 1, we can obtain the following for a horizontal length of... The longitudinal length is The square-shaped mission area contains a total of communication intermediary unmanned surface vessels. There are a total of ships in the sub-region. Block, and for any subregion Its horizontal length Longitudinal length Number of internal detection unmanned surface vessels All have been obtained, among which Next, the operational trajectories of the communication intermediary unmanned surface vessel (USV) and the detection USV will be planned separately. It should be noted that the only heterogeneous parameter affecting the planning of the USV detection trajectory is the detection radius of the USV, and the relevant parameters are shown in Table 5.

[0133] Table 5 Summary of Trajectory Planning Scheme Parameters

[0134]

[0135] First, for the communication intermediary unmanned surface vessel (USV), if it exists, as described in step 1, its function is to maintain communication between USVs in two standard sub-regions at diagonal positions. Its operational trajectory is a rotational motion with the deployment location as the center and the minimum turning radius as the radius. The deployment strategy for the communication intermediary USV is as follows: define the standard sub-region with the upper right corner coordinates as the deployment location of the communication intermediary USV as the communication sub-region; select a certain standard sub-region as the initial communication sub-region; and find all communication sub-regions by formulating appropriate update rules, thereby determining the deployment locations of all communication intermediary USVs.

[0136] Next, with the first Taking a sub-region as an example, the trajectory of the unmanned surface vessel (USV) within the sub-region is planned, and two types of detection radii for the heterogeneous USV are defined as follows: and They are respectively called Type of unmanned surface vessel and Type of unmanned surface vessel, in the first Within the block area, the corresponding number of unmanned surface vessels are as follows: , To satisfy one of them , The initial deployment positions of each unmanned surface vessel are as follows: For the first... Block area, will The unmanned surface vessels (USVs) are horizontally deployed in a horizontal "I" shape from left to right in the lower left position of the sub-area. The USVs are arranged sequentially from left to right as follows: They are numbered, and the corresponding detection radii are respectively All unmanned surface vessels have the same initial ordinate, but different initial abscissas.

[0137] Based on the deployment location and trajectory of the communication-mediated unmanned surface vessel (USV) and the deployment location of the reconnaissance USV, the trajectory of the reconnaissance USV is planned. The specific scheme is as follows:

[0138] If subregion Unmanned surface vessel swarm detection width This means that all unmanned surface vessels (USVs) only need to form a horizontal line and navigate the mission area once without turning to complete the coverage search of the area. At this point, the initial x-coordinates of each USV need to be updated. The update rule is: multiply the initial x-coordinates of all USVs by a coefficient. ,in equals (subregion) (Bottom right x-coordinate / x-coordinate of the rightmost unmanned surface vessel);

[0139] If subregion Unmanned surface vessel swarm detection width This indicates that the unmanned surface vessel (USV) swarm needs to turn around to achieve full area coverage. At this point, the initial horizontal coordinates of each USV remain as shown in step 2-1. An optimized "Z"-shaped coverage strategy is used to plan the trajectory of each USV, as follows: First, all USVs move horizontally upwards at their respective speeds; then, the initial turning position of each USV is designed: The turning position is the distance from the sub-region. Upper Realm Place, The turning position is the distance from the sub-region. Upper Realm Among them The initial number of the unmanned surface vessel is determined by its initial position in the area, with the leftmost one being unmanned surface vessel number 1. and The number used to describe the unmanned surface vessel (from outside to inside), such as Figure 4 As shown, during the upward movement of the unmanned surface vessel (USV) swarm, the distance between each USV and the upper boundary of the region is calculated sequentially from left to right (outermost to innermost). The value ranges from 1 to Then, each unmanned surface vessel, upon reaching the turning position, will use the minimum turning radius. Turn right, and after the turn, each unmanned surface vessel will move horizontally to the right. Run to the right , Run to the right Then, reach the next turning point, where Each unmanned surface vessel uses the minimum turning radius Turn downwards and move vertically downwards; and The number used to describe the unmanned surface vessel (USV) (from inside to outside) is used when calculating the rightward distance of the innermost USV. When calculating the rightward distance of the next unmanned surface vessel, The distance will increase sequentially. At this point, the calculation order for the unmanned surface vessel's rightward travel distance is from right to left (from inside to outside). The value ranges from 0 to Note that during the second turn, the unmanned surface vessel... The shortest navigation path is the one that is closest to the sub-region; therefore, its trajectory is closest to the sub-region. The lower boundary; again, when Run to distance sub-region The Lower World , The turning position is the distance from the sub-region. The Lower World At that time, each unmanned surface vessel should use the minimum turning radius. Turn right and move horizontally to the right. When Run to the right , Run to the right Then, each unmanned surface vessel used the minimum turning radius. Turn upwards and move vertically upwards; at this point, the unmanned surface vessel swarm has achieved area coverage for one cycle. Finally, repeat the above steps until the mission area is covered. Complete coverage, Figure 4 by , For example, the task area was drawn. The trajectory of the unmanned surface vessel.

[0140] Compared with the region search scheme for improving the probability of heterogeneous unmanned surface vessel swarms to detect random targets provided by this invention, and the general "Z"-shaped region coverage scheme and the optimized "Z"-shaped region coverage scheme, according to simulation verification results, the scheme provided by this invention has a higher target detection probability and a higher region coverage efficiency.

[0141] The following simulation experiment illustrates the effectiveness of the design method.

[0142] A simulation experiment of unmanned surface vessel (USV) swarm coverage detection was designed, with a total of 8 USVs and a specific interception area of ​​120km * 120km. This simulation experiment employed three schemes: Scheme 1 (no area division and a standard "Z" shape), Scheme 2 (no area division and an optimized "Z" shape), and the scheme adopted in this invention (area division and an optimized "Z" shape). This simulation experiment compared the area detection planning effects, target detection probability, and area coverage efficiency of the different schemes, ultimately demonstrating the superiority of the scheme adopted in this invention.

[0143] The simulation search area was a 120km*120km square area, using a total of 8 unmanned surface vessels (U1-U8). The specific parameters of the unmanned surface vessels are as follows (including 2 unmanned surface vessels with strong detection capabilities and 4 unmanned surface vessels with strong communication capabilities):

[0144] Unmanned surface vessel 1: Detection radius is 2km, communication radius is 100km;

[0145] Unmanned Surface Vessel 2: Detection radius is 2km, communication radius is 100km;

[0146] Unmanned surface vessel 3: Detection radius is 1km, communication radius is 100km;

[0147] Unmanned surface vessel 4: Detection radius is 1km, communication radius is 100km;

[0148] Unmanned surface vessel 5: Detection radius is 1km, communication radius is 50km;

[0149] Unmanned surface vessel 6: Detection radius is 1km, communication radius is 50km;

[0150] Unmanned surface vessel 7: Detection radius is 1km, communication radius is 50km;

[0151] Unmanned Surface Vessel 8: Detection radius is 1km, communication radius is 50km.

[0152] During the area division process, if an unmanned surface vessel (USV) is required as a communication node, the USV must conduct communication operations around the communication area, with a minimum turning radius of 0.02 km.

[0153] Option 1: No region division and a standard "Z" shape are used. The simulation results are as follows. Figure 5 As shown;

[0154] in:

[0155] The starting point of unmanned surface vessel 1 is (2,1), and the ending point is (118,1).

[0156] The starting point of unmanned surface vessel 2 is (6,1), and the ending point is (114,1).

[0157] The starting point of unmanned surface vessel 3 is (9,1), and the ending point is (111,1).

[0158] The starting point of unmanned surface vessel 4 is (11,1), and the ending point is (109,1).

[0159] The starting point of unmanned surface vessel 5 is (13,1), and the ending point is (107,1).

[0160] The starting point of unmanned surface vessel 6 is (15,1), and the ending point is (105,1).

[0161] The starting point of unmanned surface vessel 7 is (17,1), and the ending point is (103,1).

[0162] The starting point of unmanned surface vessel 8 is (19,1), and the ending point is (101,1).

[0163] Option 2: No region division was performed, and an optimized "Z" shape was adopted. The simulation results are as follows: Figure 6 As shown:

[0164] in:

[0165] The starting point of unmanned surface vessel 1 is (2,1), and the ending point is (118,1).

[0166] The starting point of unmanned surface vessel 2 is (6,1), and the ending point is (114,1).

[0167] The starting point of unmanned surface vessel 3 is (9,1), and the ending point is (111,1).

[0168] The starting point of unmanned surface vessel 4 is (11,1), and the ending point is (109,1).

[0169] The starting point of unmanned surface vessel 5 is (13,1), and the ending point is (107,1).

[0170] The starting point of unmanned surface vessel 6 is (15,1), and the ending point is (105,1).

[0171] The starting point of unmanned surface vessel 7 is (17,1), and the ending point is (103,1).

[0172] The starting point of unmanned surface vessel 8 is (19,1), and the ending point is (101,1).

[0173] To ensure full coverage within the region, the distribution of both the horizontal and vertical axes must be considered. For example... Figure 2 and Figure 3 As shown, to achieve full coverage of the area, targeted searches are required at the upper and lower edges. Taking the upper edge of the area as an example, since unmanned surface vessels (USVs) with strong detection capabilities (detection radius of 2km) are used in the area, the maximum distance between the outermost USV and the upper edge must not exceed 2km (maximum detection radius) to ensure that the edge area is completely covered.

[0174] Regarding the spacing configuration of unmanned surface vessels (USVs), it is necessary to differentiate the settings based on the detection capabilities of adjacent USVs:

[0175] If both adjacent sides are unmanned surface vessels with strong detection capabilities (detection radius of 2km), the maximum distance between them shall not exceed 4km (i.e., twice the detection radius) to avoid coverage blind spots.

[0176] If adjacent unmanned surface vessels are heterogeneous (i.e., one has a detection radius of 2km and the other has a detection radius of 1km), the maximum distance between them shall not exceed 3km (i.e., the sum of their detection radii).

[0177] In the horizontal direction, the coverage strategy of Scheme 1 (ordinary "Z" shape) is similar to that of Scheme 2 (optimized "Z" shape); the main difference between the two lies in the optimization in the vertical direction. Scheme 2 achieves more efficient edge coverage and full-area detection by adjusting the longitudinal distribution of the unmanned surface vessel.

[0178] The core difference between Scheme 1 and Scheme 2 lies in the ordinate distribution strategy of the unmanned surface vessels (USVs) at the upper and lower edges. Scheme 1 uses fixed ordinates, ensuring all USVs maintain the same ordinates along their detection paths. While this strategy achieves full coverage, it fails to fully utilize the advantages of the USVs' strong detection capabilities (2km detection radius), leading to reduced detection efficiency and increased overlapping detection areas. Scheme 2, on the other hand, dynamically adjusts the ordinate distribution based on the USVs' detection capabilities, ensuring complete edge coverage, optimizing path planning, reducing overlapping detection areas, and improving overall coverage efficiency. The two schemes will then be compared and analyzed in conjunction with the detection probability of random D-squared targets and regional coverage efficiency to verify the superiority of the optimized "Z"-shaped strategy.

[0179] Option 3: According to the method proposed in this invention, the simulation results are as follows: Figure 7 As shown:

[0180] Area 1:

[0181] Bottom left corner (0, 0); Top left corner (0, 44.72);

[0182] Top right corner (44.72, 44.72); Bottom right corner (44.72, 0);

[0183] Two unmanned surface vessels (USVs) were responsible for the search: USV 1 was a heterogeneous USV, and USV 2 was a conventional USV.

[0184] The starting point of unmanned surface vessel 1 is (2, 1); the ending point of unmanned surface vessel 1 is (42.72, 1);

[0185] The starting point of unmanned surface vessel 2 is (5, 1); the ending point of unmanned surface vessel 2 is (39.72, 1).

[0186] Area 2:

[0187] Bottom left corner (0, 44.72); Top left corner (0, 89.44);

[0188] Top right corner (44.72, 89.44); Bottom right corner (44.72, 44.72);

[0189] Two of them are unmanned surface vessels (USVs) responsible for the search, USV 3 is a heterogeneous USV, and USV 4 is a conventional USV.

[0190] The starting point of unmanned surface vessel 3 is (2, 45.72); the ending point of unmanned surface vessel 3 is (42.72, 45.72);

[0191] The starting point of unmanned surface vessel 4 is (5, 45.72); the ending point of unmanned surface vessel 4 is (39.72, 45.72).

[0192] Area 3:

[0193] Bottom left corner (44.72, 0); Top left corner (44.72, 44.72);

[0194] Top right corner (89.44, 44.72); Bottom right corner (89.44, 0);

[0195] One of the unmanned surface vessels (USVs) was responsible for the search; it was a standard USV.

[0196] The starting point of unmanned surface vessel 5 is (45.72, 1); the ending point of unmanned surface vessel 5 is (88.44, 1).

[0197] Area 4:

[0198] Bottom left corner (44.72, 44.72); Top left corner (44.72, 89.44);

[0199] Top right corner (89.44, 89.44); Bottom right corner (89.44, 44.72);

[0200] One of the unmanned surface vessels (USVs) was responsible for the search; it was a standard USV.

[0201] The starting point of unmanned surface vessel 6 is (45.72, 45.72); the ending point of unmanned surface vessel 6 is (88.44, 45.72).

[0202] Area 5:

[0203] Bottom left corner (89.44, 0); Top left corner (89.44, 89.44);

[0204] Top right corner (120, 89.44); Bottom right corner (120, 0);

[0205] One of the unmanned surface vessels (USVs) was responsible for the search; it was a standard USV.

[0206] The starting point of unmanned surface vessel 7 is (90.44, 1); the ending point of unmanned surface vessel 7 is (119, 1).

[0207] Area 6:

[0208] Bottom left corner (0, 89.44); Top left corner (0, 120);

[0209] Top right corner (120, 120); Bottom right corner (120, 89.44);

[0210] One of the unmanned surface vessels (USVs) was responsible for the search; it was a standard USV.

[0211] The starting point of unmanned surface vessel 8 is (1, 90.44); the ending point of unmanned surface vessel 8 is (119, 90.44).

[0212] To compare the detection effects of different schemes, the target area was covered and detected using different methods. Simulations were conducted to verify the detection results of different schemes from the perspectives of detection probability and detection efficiency.

[0213] The specific simulation verification process for the detection probability of target D under different schemes is as follows: In each simulation, target D is randomly generated on the far right of the area. The distribution location, speed, and trajectory of target D are unknown. Our unmanned surface vessel patrols back and forth along the target path at a certain speed. The simulation ends when target D reaches the far left of the area. A total of 10 simulations are used, with each simulation performed 10,000 times. The overall detection probability diagram is shown below. Figure 8 As shown.

[0214] Simulation results show that Scheme 1 has a detection probability of approximately 50% for D; Scheme 2 has a detection probability of approximately 56% for D; and the scheme adopted in this invention has a detection probability of approximately 84% for D. Clearly, comparing the detection probabilities of Scheme 1 and Scheme 2 demonstrates that the optimized "Z" shape is superior to the ordinary "Z" shape, which has more repeated detection areas, thus reducing the detection probability. Furthermore, the scheme adopted in this invention, based on the optimized "Z" shape, divides the region according to the various capabilities of the unmanned surface vessel (USV), highlighting the advantages of the heterogeneous USV's capabilities and achieving collaborative and efficient detection. Simulation results prove the superiority of the scheme adopted in this invention.

[0215] The specific simulation verification process for the detection efficiency of different schemes is as follows: In each simulation, the unmanned surface vessel of this invention patrols and detects along the target path at a certain speed, measures the overall detection time of the unmanned surface vessel swarm, and calculates the area coverage at each moment. The formula for calculating the area coverage is:

[0216] ,

[0217] Overall detection efficiency such as Figure 9As shown in the simulation results, Scheme 1 achieves full-area detection in approximately 420 minutes; Scheme 2 achieves full-area detection in approximately 380 minutes; and Scheme 3, adopted in this invention, has higher detection efficiency, achieving full-area detection in approximately 300 minutes. Clearly, the optimized "Z" shape is significantly better than the ordinary "Z" shape. As seen in the simulation diagram, Scheme 1 and Scheme 2 exhibit similar curve trends during straight-line travel, but when passing through turning sections, the ordinary "Z" shape suffers from more repeated detection areas, reducing detection efficiency. Furthermore, Scheme 3, based on the optimized "Z" shape, divides the area according to the various capabilities of our unmanned surface vessel (USV), highlighting the advantages of the heterogeneous USV of this invention. Under this area division, the USV of this invention can leverage its collaborative detection advantages, further improving detection efficiency and demonstrating the superiority of the scheme adopted in this invention.

[0218] This invention targets targets randomly distributed within a square task area, with unknown operating speeds and trajectories. Based on the performance evaluation results of unmanned surface vessels (USVs), it generates a USV swarm task allocation scheme, divides the task area and the USV swarm, deploys USVs at the lower left corner of each sub-task area, designs a USV swarm area coverage method, generates the USV swarm detection array, and plans the USV swarm detection trajectory. Furthermore, under the constraints of a given number of USVs and performance parameters, simulation experiments are conducted to obtain and compare the target detection probability and area coverage efficiency of different USV swarm area coverage methods. The results show that the heterogeneous USV swarm coverage detection model designed in this invention has a higher target detection probability and better area coverage efficiency.

[0219] The above description is merely a preferred embodiment of the present invention and is not intended to further limit the present invention. All equivalent changes made based on the description and drawings of the present invention are within the protection scope of the present invention.

Claims

1. A method for regional search of a heterogeneous unmanned surface vessel (USV) swarm, characterized in that, Includes the following steps: Step 1: Based on the task area where the target appears, and considering the number of unmanned surface vessels (USVs) and the performance parameters of heterogeneous USVs, divide the task area into multiple sub-task areas and generate a heterogeneous USV cluster task allocation scheme. Step 2: Based on the task allocation results of the heterogeneous unmanned surface vessel (USV) swarm, generate the USV swarm detection array, plan the USV swarm detection trajectory, and provide the regional search strategy for the heterogeneous USV swarm. Step 3: Under the constraints of the number of unmanned surface vessels and performance parameters, track the planned path to achieve regional search of the heterogeneous unmanned surface vessel cluster; Step 1 specifically includes: Step 1-1: Define a random target with a horizontal length of... Longitudinal length It runs within a square task area, with a running speed of [missing value]. The direction of operation is unknown; existing Several unmanned surface vessels (USVs) are conducting target detection missions within this square-shaped mission area. The turning radius of each USV is [missing information]. The detection radius, communication radius, and maximum operating speed each have two random possible values, respectively. and , and as well as and ; Steps 1-2: Consider a swarm of homogeneous unmanned surface vessels, i.e., a detection radius of... Communication radius is Maximum operating speed is Minimum turning radius is Establish a rectangular coordinate system with the lower left corner of the task area as the origin, and divide the task area into several sub-regions according to the default area division scheme. Steps 1-3: Determine the rationality of the isomorphic unmanned surface vessel cluster area division scheme. If the determination result is unreasonable, optimize and update the division result. Steps 1-4: Based on the results of the isomorphic unmanned surface vessel (USV) cluster region division, perform task allocation for the isomorphic USV cluster. Steps 1-5: Based on the results of steps 1-2 to 1-4, design a task area partitioning scheme and an unmanned surface vessel task allocation scheme for heterogeneous unmanned surface vessel (USV) clusters. In steps 1-5, the communication radius is defined as... and The unmanned surface vessels are respectively Type of unmanned surface vessel and Type of unmanned surface vessel, corresponding to the number of unmanned surface vessels as follows , And assume Specifically: Step 1-5-1, Planning The working area of ​​the unmanned surface vessel: based on the complete mission area. The working area of ​​the unmanned surface vessel is, with An unmanned surface vessel with arbitrary detection and communication range. Arbitrary operating speed, minimum turning radius As the parameter condition, execute steps 1-2 to 1-4 sequentially to obtain the result. Number of sub-regions based on type of unmanned surface vessel Number of standard sub-regions Horizontal length of standard sub-region Vertical length of standard sub-region Detection of the number of unmanned surface vessels Number of unmanned surface vessels used for communication intermediaries and the number of unmanned surface vessels in each standard sub-area. ; If steps 1-4 are executed, the result is as follows: If the design scheme based on the unmanned surface vessel is reasonable, then it indicates that... The working area of ​​this type of unmanned surface vessel is the entire mission area; If steps 1-4 are executed, the result is as follows: If the design based on the existing unmanned surface vessel is unreasonable, then it should be updated. Lateral length of the standard sub-region of the unmanned surface vessel and longitudinal length ,renew The working area of ​​this type of unmanned surface vessel is arbitrary. Block standard sub-region; Step 1-5-2, Planning The working area of ​​the unmanned surface vessel; like The working area of ​​this type of unmanned surface vessel is the entire mission area. The working area of ​​this type of unmanned surface vessel is arbitrary; like If the working area of ​​the unmanned surface vessel is not the entire mission area, then... The default working area for this type of unmanned surface vessel is the complete mission area excluding... The remaining area of ​​the unmanned surface vessel's working area; Step 1-5-3, Update The working area of ​​the unmanned surface vessel; like If the working area of ​​the unmanned surface vessel is the entire mission area, then the area division scheme is reasonable. The working area of ​​this type of unmanned surface vessel is arbitrary; like The working area of ​​this type of unmanned surface vessel is not the entire mission area, and When the default working area of ​​a type of unmanned surface vessel is a single square area, this square area is used as... The working area of ​​the unmanned surface vessel is, with An unmanned surface vessel with arbitrary detection and communication range. Arbitrary operating speed, minimum turning radius As the parameter condition, execute steps 1-2 to 1-4 sequentially to obtain the result. Number of sub-regions based on type of unmanned surface vessel Number of standard sub-regions Horizontal length of standard sub-region Vertical length of standard sub-region Detection of the number of unmanned surface vessels Number of unmanned surface vessels used for communication intermediaries and the number of unmanned surface vessels in each standard sub-area. If steps 1-4 are executed, the result is as follows: If the design scheme based on the unmanned surface vessel is reasonable, then it indicates that... The unmanned surface vessel can complete the coverage detection of the remaining area; otherwise, if steps 1-4 are performed, the result obtained is... If the design based on the standard unmanned surface vessel is unreasonable, then a backup strategy will be implemented. like The working area of ​​this type of unmanned surface vessel is not the entire mission area, and When the working area of ​​a type of unmanned surface vessel is a combination of multiple square areas, each of these square areas is used as the working area, and steps 1-2 to 1-4 are executed sequentially to obtain the desired result. The number of sub-regions within each shaped area based on the type of unmanned surface vessel and Number of standard sub-regions and Horizontal length of standard sub-region Vertical length of standard sub-region Detection of the number of unmanned surface vessels Number of unmanned surface vessels used for communication intermediaries and the number of unmanned surface vessels within the standard sub-area. If the number of unmanned surface vessels (USVs) in all areas is greater than If the area division scheme is reasonable, the heterogeneous unmanned surface vessel (USV) cluster area division scheme has been designed; otherwise, if the number of USVs in a certain area is less than or equal to... If the alternative strategy is not executed, the subsequent operations in step 1 will not be executed, and the process will proceed directly to step 2. Step 1-5-4, Unmanned Surface Vessel (USV) Task Assignment: for The task allocation scheme for the unmanned surface vessel remains unchanged. for For unmanned surface vessels (USVs), if their working area is arbitrary, the number of USVs will determine the outcome. Number of sub-regions ,Will Type of unmanned surface vessel assigned to target The working area of ​​the unmanned surface vessel; for Type of unmanned surface vessel, if The working area of ​​this type of unmanned surface vessel is not the entire mission area, and it meets the following requirements: At that time, indivual Type of unmanned surface vessel for reconnaissance assigned to The type of unmanned surface vessel corresponds to the sub-region; for Type of unmanned surface vessel, if The working area of ​​this type of unmanned surface vessel is not the entire mission area, and it meets the following requirements: At that time, maintain The task allocation results for the unmanned surface vessel.

2. The method for regional search of a heterogeneous unmanned surface vessel swarm according to claim 1, characterized in that, In steps 1-2, the regional division scheme for the isomorphic unmanned surface vessel (USV) cluster is as follows: Step 1-2-1: Calculate the baseline side length of the standard sub-region. Satisfying the relation ,have to ; Step 1-2-2: Determine the number of standard sub-regions And update the horizontal length of the standard subregion. and longitudinal length ; like and This indicates that the communication radius of the unmanned surface vessel covers the entire mission area, and in this case, it is no longer necessary to divide the mission area into sub-regions. equal Horizontal length equal Longitudinal length equal ; like and The number of standard subregions equal The quotient of the operation, the horizontal length equal Longitudinal length equal ; like and The number of standard subregions equal The quotient of the operation, the horizontal length equal Longitudinal length equal ; like and The number of standard subregions equal Quotients of operations The product of the quotients of the operation, horizontal length and longitudinal length All equal to ; Steps 1-2-3: Determine the number n of all sub-regions; If satisfied and The number of subregions equal If satisfied , as well as The remainder of the operation equals Then the number of subregions equal The quotient of the operation; If satisfied , as well as The remainder of the operation is not equal to Then the number of subregions equal The quotient of the operation plus ; If satisfied , as well as The remainder of the operation equals Then the number of subregions equal The quotient of the operation; If satisfied , as well as The remainder of the operation is not equal to Then the number of subregions equal The business plus ; If satisfied , as well as Sum of remainders in operations The remainder of the operation is equal to Then the number of subregions equal Quotients of operations The product of quotients in an operation; If satisfied , as well as Sum of remainders in operations The remainder of the operation has a non-existent In this case, the number of sub-regions equal Quotients of operations The product of the quotients of the operations plus ; If satisfied , as well as Sum of remainders in operations The remainder of the operation is not equal to Then the number of subregions equal Quotients of operations The product of the quotients of the operations plus ; Steps 1-2-4: Number all sub-regions based on the numbering rules.

3. The method for regional search of a heterogeneous unmanned surface vessel swarm according to claim 2, characterized in that, Steps 1-3 are as follows: Step 1-3-1: Analyze the rationality of the regional division: If the number of unmanned surface vessels Number of sub-regions greater than or equal to This indicates that the unmanned surface vessel cluster covers the entire mission area, and the default area division scheme is reasonable; If the number of unmanned surface vessels Less than the number of sub-regions This indicates that the current region division rule cannot support full coverage of the task region, and the default region division scheme is unreasonable; Step 1-3-2: If the default area division scheme is unreasonable, select some unmanned surface vessels (USVs) to act as communication intermediaries to maintain communication between USVs in two standard sub-regions at diagonal positions. These USVs do not perform coverage detection tasks; they only rotate at their deployment positions with the minimum turning radius. Update the baseline side length of the standard sub-regions. Satisfying the relation Thus, Update the horizontal length of the standard sub-region. Vertical length of standard sub-region Number of standard sub-regions and the number of all sub-regions .

4. The method for regional search of a heterogeneous unmanned surface vessel swarm according to claim 3, characterized in that, In steps 1-4, the number of unmanned surface vessels for detection is defined as follows: The number of unmanned surface vessels used for communication intermediaries is sub-region The number of unmanned surface vessels inside is ,in The specific task allocation scheme for the isomorphic unmanned surface vessel (USV) swarm is as follows: Step 1-4-1: If the default area division scheme of the unmanned surface vessel (USV) swarm is reasonable, then USVs do not need to act as communication intermediaries, and all USVs perform detection tasks. In this case, the number of communication intermediary USVs... equal Detect the number of unmanned surface vessels equal ; Step 1-4-2: Determine the number of unmanned surface vessels (USVs) for detection within each sub-region. 1) The unmanned surface vessel is divided into indivual Sub-clusters and indivual Sub-clusters, satisfying ,in Number of sub-clusters equal The remainder of the operation, Number of sub-clusters equal ; 2) For Sub-cluster, defining its number of unmanned surface vessels as ,like ,but equal The quotient of the operation plus Otherwise, if ,but equal ; 3) For Sub-cluster, defining its number of unmanned surface vessels as ,like ,but equal The quotient of the operation, otherwise, if ,but equal The parameters satisfy the following relationship: ; Step 1-4-3: If the default area division scheme is unreasonable, some unmanned surface vessels (USVs) will need to act as communication intermediaries. The number of USVs acting as communication intermediaries is... The number of horizontal divisions compared to the standard sub-region and the number of vertical divisions related, , equal The quotient of the operation equal The quotient of the operation; the number of unmanned surface vessels used for lateral communication is defined as... The number of unmanned surface vessels used for vertical communication is ,satisfy , and The rules for determining it are as follows: like If it is an odd number, then equal The integer part of the result of the operation; like If it is even, then equal Add the integer above the result of the operation ; like If it is an odd number, then equal The integer part of the result of the operation; like If it is even, then equal Add the integer above the result of the operation ; Detect the number of unmanned surface vessels equal ,like Based on step 1-4-2, the number of unmanned surface vessels (USVs) detected in each sub-region is obtained; otherwise, if If the above area division scheme does not match the task allocation scheme, the number and performance of the unmanned surface vessels cannot guarantee full task area coverage under real-time communication of the cluster. In this case, the backup strategy is executed, that is, the task area is no longer divided, and all unmanned surface vessels uniformly perform the coverage detection task.

5. The method for regional search of a heterogeneous unmanned surface vessel swarm according to claim 1, characterized in that, Step 2 is as follows: Step 2-1: Based on the deployment location rules of communication intermediary unmanned surface vessels (USVs), determine the deployment locations of the longitudinal and lateral communication intermediary USVs respectively. Then, draw horizontal and vertical lines based on all the deployment locations of the longitudinal and lateral communication intermediary USVs to obtain all the intersection points, which are the deployment locations of the communication intermediary USVs. Step 2-2: Deploy the unmanned surface vessel (USV) for detection within the sub-region, specifically as follows: The two types of detection radii defined by the heterogeneity of unmanned surface vessels are as follows: and They are respectively called Type of unmanned surface vessel and Type of unmanned surface vessel, in the first Within the block area, the corresponding number of unmanned surface vessels are as follows: , To satisfy one of them , ; The initial deployment positions of each unmanned surface vessel are as follows: For the first... Block area, will The unmanned surface vessels (USVs) are horizontally deployed in a horizontal "I" shape from left to right in the lower left position of the sub-area. The USVs are arranged sequentially from left to right as follows: They are numbered, and the corresponding detection radii are respectively The initial deployment positions of each unmanned surface vessel are determined based on the initial coordinate determination rules, and the following is obtained: The detection width of an unmanned surface vessel swarm consisting of [number] unmanned surface vessels is [width]. ; Steps 2-3: Plan the trajectory of the unmanned surface vessel (USV), specifically as follows: If subregion Unmanned surface vessel swarm detection width This means that all unmanned surface vessels (USVs) only need to form a horizontal line and navigate the mission area once without turning to complete the area coverage search. At this point, the initial x-coordinates of each USV need to be updated. The update rule is: multiply the initial x-coordinates of all USVs by a coefficient. ,in equals (subregion) (Bottom right x-coordinate / x-coordinate of the rightmost unmanned surface vessel); If subregion Unmanned surface vessel swarm detection width This indicates that the unmanned surface vessel (USV) swarm needs to turn around to achieve full coverage of the area. At this time, the initial horizontal coordinate of each USV remains unchanged, and the running trajectory of each USV is planned using an optimized "Z" shaped coverage strategy.

6. The method for regional search of a heterogeneous unmanned surface vessel swarm according to claim 5, characterized in that, An optimized "Z"-shaped coverage strategy is used to plan the operational trajectories of each unmanned surface vessel, specifically including: 1) In the initial stage, all unmanned surface vessels move horizontally upwards at their respective speeds; 2) Design the initial turning position of each unmanned surface vessel (USV), based on the relationship between each USV and the sub-region. The upper limit distance is the minimum turning radius after each unmanned surface vessel reaches the turning position. Turn right, and after the turn is completed, each unmanned surface vessel will move horizontally to the right; 3) When each unmanned surface vessel travels a preset distance to the right to reach the next turning position, it will use the minimum turning radius. Turn downwards and move vertically downwards; 4) Based on each unmanned surface vessel and sub-region The lower limit distance, each unmanned surface vessel with the minimum turning radius Turn right and move horizontally to the right; 5) After each unmanned surface vessel (USV) travels a preset distance to the right, it then turns with the minimum turning radius. By turning upwards and moving vertically upwards, the unmanned surface vessel swarm achieves area coverage in one cycle. 6) Repeat steps 1)-5) above until the task area is completed. Complete coverage.

7. The method for regional search of a heterogeneous unmanned surface vessel swarm according to claim 1, characterized in that, Step 3 specifically involves: The horizontal length of the task area is limited to Longitudinal length is The total number of unmanned surface vessels is limited to [number]. The detection radius of each unmanned surface vessel is and For any one of them, the communication radius is and For any one of them, the maximum running speed is and For any one of them, the minimum turning radius is Using the aforementioned task area division scheme and unmanned surface vessel (USV) task allocation scheme, the task area is divided into multiple sub-regions, and the operating trajectory of each USV is defined. The detection status of targets within each sub-region after the USV achieves complete coverage of the sub-region is statistically analyzed. If a target is detected, it is recorded as "". Otherwise, record it as " The target detection results within the complete task area are obtained by performing a logical "OR" operation on the target detection results of each sub-region. Finally, the detection probability of random targets is obtained by repeating the experiment multiple times.

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