Multi-AUV (Autonomous Underwater Vehicle) collaborative interception method based on improved tracking interception method
By calculating and predicting interception points and planning paths using the artificial potential field method, the problem of low efficiency in multi-AUV collaborative interception was solved, achieving efficient multi-AUV collaborative interception and improving port protection capabilities.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-05
- Publication Date
- 2026-03-13
AI Technical Summary
In existing multi-AUV interception methods, the coordination efficiency of multiple AUVs is low, and the actions are repetitive or the coverage area is unreasonable, resulting in low interception efficiency.
By calculating and predicting interception points, planning independent interception paths, and using the artificial potential field method for path planning, combined with local extremum detection and processing, multi-AUV collaborative interception is achieved.
It improves the efficiency of multi-AUV collaborative interception, ensuring that each AUV can work independently and collaboratively to complete the task, thereby enhancing the port's protection capabilities.
Smart Images
Figure CN121657673A_ABST
Abstract
Description
Technical Field
[0001] This application relates to a multi-AUV cooperative interception method based on an improved tracking and interception method, belonging to the field of unmanned underwater vehicles and multi-agent swarms. Background Technology
[0002] Ensuring port safety is a prerequisite for the normal operation of a port. Currently, port security protection mainly focuses on surface and port traffic safety. However, effectively protecting the complex and ever-changing underwater areas is a crucial issue that urgently needs to be addressed. Autonomous Underwater Vehicles (AUVs), due to their high degree of autonomy and operability, have become an important tool for port security protection. When the sonar sensors carried by an AUV detect an intruding hostile target, how to use the AUV to quickly and effectively intercept it and prevent it from posing a threat to the underwater port is a key research focus. Because a single AUV often has limited energy and speed, it is difficult to independently and effectively complete tasks such as large-scale target detection and tracking.
[0003] Therefore, utilizing multiple AUV systems to enhance overall effectiveness through collaborative operations has become an inevitable choice. In existing technologies, multiple AUVs often employ a real-time tracking-based interception method. The basic logic of this method is: once an AUV detects a target, one or more AUVs in the system begin real-time tailing and tracking, dynamically adjusting their course and speed based on the target's current position, gradually approaching until interception is achieved. However, collaboration among multiple AUVs is often limited to information sharing or simple encirclement, leading to redundant actions or unreasonable coverage areas, failing to create an efficient collaborative encirclement posture. Summary of the Invention
[0004] To address the problem of low interception efficiency when multiple AUVs perform interception tasks, this application provides a multi-AUV collaborative interception method based on an improved tracking interception method.
[0005] This application discloses a multi-AUV cooperative interception method based on an improved tracking and interception method, comprising:
[0006] S1. Sample the position coordinates of the target object, and obtain the motion trajectory equation of the target object based on at least two position coordinates of the target object;
[0007] S2. Each AUV calculates its corresponding predicted interception point:
[0008] The point from the initial position of each AUV to the point where it encounters the target is the predicted interception point. A quadratic equation in one variable is established with the x-coordinate of each predicted interception point as the unknown parameter. The x-coordinate of the predicted interception point is solved, and then combined with the motion trajectory equation of the target, the y-coordinate of the predicted interception point is obtained.
[0009] S3. Plan the interception path for each AUV from its initial position to its corresponding predicted interception point;
[0010] S4. Determine whether the trajectory of the target object has changed. If yes, proceed to S1; otherwise, proceed to S5.
[0011] S5. Determine whether the Euclidean distance from any AUV to the target is less than or equal to the defined interception threshold. If yes, the interception is successful. If not, go to S2 and re-predict the interception point.
[0012] Preferably, S2 includes:
[0013] The x-coordinate of the predicted intercept point for the nth AUV The quadratic equation in one variable is:
[0014]
[0015] in,
[0016] coefficient
[0017] coefficient
[0018] coefficient
[0019] The x and y coordinates of the target object; Let x and y be the coordinates of the nth AUV; The slope of the equation representing the trajectory of the target object. The intercept of the equation representing the trajectory of the target object; Indicates the speed of the AUV. Indicates the target speed;
[0020] Combination Solving for the two unequal real roots, we discard the roots that deviate from the direction of the target's motion and use the remaining roots as the x-coordinates of the predicted interception point. Substituting these roots into the trajectory equation of the target, we obtain the y-coordinates of the predicted interception point.
[0021] Preferably, S1 includes:
[0022] The position coordinates of the target object are sampled to obtain the coordinates of the target object at time i. The coordinates of the target object at time i+T The equation of the target object's trajectory is obtained as follows:
[0023] ;
[0024] in, , The coordinates of the target object's trajectory are .
[0025] Preferably, S3 includes:
[0026] Establish an independent planning subsystem for each AUV and its corresponding predicted interception point;
[0027] During the planning of the interception path, within each planning subsystem, the predicted interception point of the AUV is set as the global gravitational potential field point, and the gravitational potential field value generated at this point is the global minimum value within the subsystem.
[0028] Preferably, at each planning moment, each AUV obtains the gravitational potential field and the repulsive potential field based on its current position and the detected obstacles;
[0029] The resultant force is obtained from the gradients of the gravitational and repulsive potential fields:
[0030]
[0031] Wherein, the repulsive force generated by the nth AUV is The gravitational force experienced by the nth AUV is ; Let be the gravitational potential field value of the nth AUV; Let be the repulsive potential field value of the nth AUV; This represents the total potential field value of the nth AUV; The resultant force of the nth AUV; Represents the gradient;
[0032] According to the combined force It determines its direction of movement and step size, updates its own position, and then moves towards the predicted interception point.
[0033] As a preferred approach, local extrema detection and processing are performed during the planning of the interception path:
[0034] Real-time monitoring of whether the resultant force of each AUV at unpredictable interception points is zero;
[0035] If the net force received by an AUV at a non-predicted interception point is zero, the path update of that AUV is paused, and the AUV remains in a waiting state, waiting for changes in external conditions to alter the gravitational field distribution of the subsystem. Once the gravitational field changes, the net force is recalculated, the direction of motion and step size are determined, and the AUV's position is updated, thus moving towards the predicted interception point.
[0036] The beneficial effects of this application are that the cooperative strategy of the predictive interception method ensures that each AUV can work independently while also communicating with each other to collaboratively complete underwater operations. When multiple AUVs are performing tasks in a port, they will coordinate to intercept any approaching AUV, thus completing the port's security work and ensuring normal port order. Compared with the traditional tracking interception method, the predictive planning interception method significantly improves interception efficiency. Attached Figure Description
[0037] Figure 1 This is the overall flowchart of this application;
[0038] Figure 2 This is a schematic diagram of the interception points corresponding to multiple AUVs in a two-dimensional environment according to this application.
[0039] Figure 3 This is a schematic diagram illustrating the planned interception path in this application; Detailed Implementation
[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0041] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0042] The present application will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the application.
[0043] The multi-AUV cooperative interception method based on the improved tracking and interception method in this embodiment includes:
[0044] Step 1: Establish the working environment for the 2D model:
[0045] The position coordinates of the target object are sampled, and the trajectory equation of the target object is obtained based on at least two position coordinates; specifically:
[0046] An AUV can acquire the state information of a target object by collecting data from its onboard sonar sensors. At time i, the target object's coordinates... and the coordinates of the nth AUV After a unit sampling time T seconds, the target object's position coordinates are denoted as follows: and the coordinates of the nth AUV Through coordinates and AUVs can obtain the trajectory of the target object. Equation (1) shows the equation of the target object's trajectory:
[0047] (1)
[0048] in, , The coordinates of the target object's trajectory are .
[0049] Step 2: Each AUV calculates its corresponding predicted interception point:
[0050] The point from the initial position of each AUV to the point where it encounters the target is the predicted interception point. A quadratic equation in one variable is established with the x-coordinate of each predicted interception point as the unknown parameter. The x-coordinate of the predicted interception point is solved, and then combined with the motion trajectory equation of the target, the y-coordinate of the predicted interception point is obtained.
[0051] Specifically, during the prediction of the interception point, the AUV moves in a straight line, meaning obstacles in the environment can be ignored. Assume the coordinates of the interception point corresponding to the Nth AUV are... , Figure 2 This is a schematic diagram of interception points for multiple AUVs in a two-dimensional environment. Taking AUV1 as an example, it briefly analyzes the prediction concept of interception points in a two-dimensional environment. and the target object For them to meet, it must be guaranteed that both AUV1 and the target arrive at this point within the same timeframe. This requires AUV1 and the target to arrive at... Construct a framework based on the condition of time consistency. Equation (2) is for unknown parameters. Similarly, the calculation of the interception point can be derived. and The expressions are represented by equations (3) and (4) respectively:
[0052] (2)
[0053] (3)
[0054] (4)
[0055] Indicates the speed of the AUV. Indicates the target speed;
[0056] By combining equations (1) and (2), a quadratic equation in one variable with respect to the unknown variable can be obtained, as shown in equation (5). Similarly, a quadratic equation in one variable with respect to the unknown variable can be obtained. and The quadratic equations in one variable are represented by equations (6) and (7), respectively. Assume that the coefficients of the quadratic equation established for the interception point corresponding to the nth AUV are given by... and The values are shown in equations (8), (9), and (10), respectively.
[0057] (5)
[0058] (6)
[0059] (7)
[0060] (8)
[0061] (9)
[0062] (10)
[0063] The x and y coordinates of the target object; Let x and y be the coordinates of the nth AUV; The slope of the equation representing the trajectory of the target object. The intercept of the equation representing the trajectory of the target object;
[0064] For any AUV in the environment, If both can be verified, then the quadratic equation has two unequal real roots. The root that deviates from the direction of the target motion should be discarded. The remaining roots... As the x-axis Substituting it into equation () will give us the result. As corresponding ordinate .
[0065] Step 3: Plan the interception path for each AUV from its initial position to its corresponding predicted interception point:
[0066] Specifically, an independent planning subsystem is established for each AUV and its corresponding predicted interception point. During the planning of the interception path, within each planning subsystem, the predicted interception point of the AUV is set as the global gravitational potential field point, and the gravitational potential field value generated at this point is the global minimum value within the subsystem.
[0067] For the problem of multi-AUV cooperative interception of targets, after each AUV in the environment has its corresponding predicted interception point calculated, the main task is to plan the path from each AUV to its corresponding predicted interception point. Artificial potential fields, due to their advantages of low computational cost, high processing speed, and strong real-time obstacle avoidance capabilities, which enable efficient completion of interception tasks, can also be used for multi-AUV path planning. Each AUV and its corresponding predicted interception point form a subsystem; multi-AUV path planning is essentially each subsystem simultaneously performing single-AUV path planning. Figure 3 The force analysis diagram of multiple AUVs at time i is shown. Each AUV in the environment is simultaneously subjected to gravitational and repulsive forces. Each predicted interception point generates a gravitational potential field only for its corresponding AUV. This potential field fills its respective subsystem, and the potential field value is the global minimum value in the subsystem.
[0068] In the predictive planning interception method, the Nth AUV uses the interception point calculated in the previous step as its gravitational potential field point. Define the... The repulsive force generated by the obstacle is , No. The gravitational force experienced by an AUV Equations (11) and (12) respectively calculate the first... The total potential field and resultant force of each AUV, where , , and These represent the gravitational potential field value, repulsive potential field value, total potential field value, and resultant force, respectively. During the interception path planning process, since the predicted gravitational potential field value generated at the interception point is the global minimum, multiple AUVs will inevitably move towards their respective interception points.
[0069] (11)
[0070] (12)
[0071] in, Represents the gradient;
[0072] At each planning moment, each AUV obtains the gravitational potential field and the repulsive potential field based on its current position and the detected obstacle; referring to equation (12), the resultant force is obtained based on the gradient of the gravitational potential field and the repulsive potential field. According to the combined force It determines its direction of movement and step size, updates its own position, and then moves towards the predicted interception point.
[0073] In planning the AUV interception path, local extrema detection and processing are also required. When the AUV reaches the zero point of the gradient at a non-gravitational potential field point, it will get trapped in a local extrema region and be unable to continue. Once trapped in a local extrema, the AUV only needs to wait briefly until the target's position changes before escaping the extrema; specifically:
[0074] Real-time monitoring of whether the resultant force of each AUV at unpredictable interception points is zero;
[0075] If the net force received by an AUV at a non-predicted interception point is zero, the path update of that AUV is paused, and the AUV remains in a waiting state, waiting for changes in external conditions to alter the gravitational field distribution of the subsystem. Once the gravitational field changes, the net force is recalculated, the direction of motion and step size are determined, and the AUV's position is updated, thus moving towards the predicted interception point.
[0076] The core of the path planning method in this application is parallel independent planning based on an artificial potential field and a wait-and-recovery mechanism for local extrema. Each AUV moves independently and synchronously toward the target point under the drive of its own gravitational field, and uses a simple strategy to deal with the local minima problem inherent in the artificial potential field method, so as to achieve efficient path generation for multi-AUV cooperative interception.
[0077] Step 4: Determine whether the trajectory of the target object has changed. If yes, proceed to step 1; otherwise, proceed to step 5.
[0078] If the target's actual motion undergoes a sudden change (such as turning, acceleration, or deceleration), all previous predictions and plans will become invalid. During execution, the system continuously or periodically compares the target's measured new position with the position predicted by the trajectory equation obtained in step 1. If the deviation exceeds a preset fault tolerance threshold, the trajectory is considered to have changed. Another simpler implementation is timed triggering, where every N planning cycles, regardless of whether a significant deviation is detected, the system is forced to return to step 1 for resampling and fitting to handle the target's gradual maneuvering.
[0079] Step 5: Determine whether the Euclidean distance from any AUV to the target is less than or equal to the defined interception threshold. If yes, the interception is successful; otherwise, proceed to step 3 and re-predict the interception point.
[0080] Step 5 is the final determination of mission completion and the exit point for the iterative loop. Calculate the Euclidean distance between any AUV and the target's current actual position. If this distance is less than or equal to a predefined interception threshold (e.g., 10 meters), the AUV is considered to have physically approached the target sufficiently, and the interception mission is considered successful. This threshold is typically set based on the AUV's sensor range, physical size, or mission requirements.
[0081] This application first predicts the interception point location; second, it plans the path from the AUV to the predicted interception point. During the prediction process, it is essential to ensure that both the AUV and the moving target arrive at the predicted point within the same timeframe, and that the predicted interception point lies on the target's trajectory. In a two-dimensional underwater environment, to meet these conditions, each AUV can quickly and easily determine its interception location by observing the trajectory of the intruding target. This application uses unmanned aerial vehicles (UAVs) and coordinated interception as its research background, focusing on AUVs as the research object. Addressing the problem of multiple AUVs intercepting targets during port security operations, this application conducts research on a predictive planning-based interception algorithm to improve interception efficiency.
[0082] While this application has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of this application. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of this application as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.
Claims
1. A multi-AUV cooperative interception method based on an improved tracking and interception method, characterized in that, include: S1. Sample the position coordinates of the target object, and obtain the motion trajectory equation of the target object based on at least two position coordinates of the target object; S2. Each AUV calculates its corresponding predicted interception point: The point from the initial position of each AUV to the point where it encounters the target is the predicted interception point. A quadratic equation in one variable is established with the x-coordinate of each predicted interception point as the unknown parameter. The x-coordinate of the predicted interception point is solved, and then combined with the motion trajectory equation of the target, the y-coordinate of the predicted interception point is obtained. S3. Plan the interception path for each AUV from its initial position to its corresponding predicted interception point; S4. Determine whether the trajectory of the target object has changed. If yes, proceed to S1; otherwise, proceed to S5. S5. Determine whether the Euclidean distance from any AUV to the target is less than or equal to the defined interception threshold. If yes, the interception is successful. If not, go to S2 and re-predict the interception point.
2. The multi-AUV cooperative interception method based on the improved tracking and interception method according to claim 1, characterized in that, S2 include: The x-coordinate of the predicted intercept point for the nth AUV The quadratic equation in one variable is: in, coefficient coefficient coefficient The x and y coordinates of the target object; Let x and y be the coordinates of the nth AUV; The slope of the equation representing the trajectory of the target object. The intercept of the trajectory equation representing the motion of the target object; Indicates the speed of the AUV. Indicates the target speed; Combination After solving, two unequal real roots are obtained. The root that deviates from the direction of the target object's motion is discarded. The remaining root is used as the x-coordinate of the predicted interception point and substituted into the motion trajectory equation of the target object to obtain the y-coordinate of the predicted interception point.
3. The multi-AUV cooperative interception method based on the improved tracking and interception method according to claim 2, characterized in that, S1 includes: The position coordinates of the target object are sampled to obtain the coordinates of the target object at time i. The coordinates of the target object at time i+T The equation of the target object's trajectory is obtained as follows: ； in, , The coordinates of the target object's trajectory are .
4. The multi-AUV cooperative interception method based on the improved tracking and interception method according to claim 1, characterized in that, S3 includes: Establish an independent planning subsystem for each AUV and its corresponding predicted interception point; During the planning of the interception path, within each planning subsystem, the predicted interception point of the AUV is set as the global gravitational potential field point, and the gravitational potential field value generated at this point is the global minimum value within the subsystem.
5. The multi-AUV cooperative interception method based on the improved tracking and interception method according to claim 1, characterized in that, At each planning moment, each AUV obtains the gravitational potential field and the repulsive potential field based on its current position and the detected obstacles; The resultant force is obtained from the gradients of the gravitational and repulsive potential fields: Wherein, the repulsive force generated by the nth AUV is The gravitational force experienced by the nth AUV is ; Let be the gravitational potential field value of the nth AUV; Let be the repulsive potential field value of the nth AUV; This represents the total potential field value of the nth AUV; The resultant force of the nth AUV; Represents the gradient; According to the combined force It determines its direction of movement and step size, updates its own position, and then moves towards the predicted interception point.
6. The multi-AUV cooperative interception method based on the improved tracking and interception method according to claim 1, characterized in that, During the planning of the interception path, local extrema detection and processing are performed: Real-time monitoring of whether the resultant force of each AUV at unpredictable interception points is zero; If the net force received by an AUV at a non-predicted interception point is zero, the path update of that AUV is paused, and the AUV remains in a waiting state; waiting for changes in external conditions to alter the gravitational field distribution of the subsystem. When the gravitational field changes, the net force is recalculated, the direction of motion and step size are determined, and its position is updated, thus moving towards the predicted interception point.
7. A computer-readable storage device storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the multi-AUV cooperative interception method based on the improved tracking and interception method as described in any one of claims 1 to 6.
8. A multi-AUV cooperative interception device based on an improved tracking and interception method, comprising a storage device, a processor, and a computer program stored in the storage device and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the multi-AUV cooperative interception method based on the improved tracking and interception method as described in any one of claims 1 to 6.
9. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the multi-AUV cooperative interception method based on the improved tracking and interception method as described in any one of claims 1 to 6.