Unmanned surface vessel cluster collaborative hunting method based on minimum hunting structure

Abstract

The invention relates to the technical field of ocean unmanned system cooperative control and decision making, in particular to a water surface unmanned ship cluster cooperative hunting method based on a minimum hunting structure, and the method comprises the following steps: obtaining the state information of a target ship and a water surface unmanned ship cluster; establishing a target motion constraint relation; determining a cooperative hunting success condition of the unmanned surface vehicle cluster; calculating the minimum number of unmanned surface vessels completing the hunting task; determining a hunting point corresponding to each unmanned surface vehicle, and forming a hunting structure meeting a cooperative hunting success condition; and calculating the sailing direction of each unmanned surface vehicle, and if the unmanned surface vehicle does not reach the corresponding hunting point, updating the state information, re-determining the hunting point and adjusting the sailing direction until all the unmanned surface vehicles reach the corresponding hunting points. According to the method, it can be theoretically guaranteed that the hunting structure effectively limits the target movement direction, the hunting success rate is high, hunting tasks are completed only through three unmanned ships, the resource utilization rate is high, and the cooperative control complexity is low.

Description

Technical Field

[0001] This invention relates to the field of collaborative control and decision-making technology for marine unmanned systems, specifically to a collaborative encirclement method for a swarm of unmanned surface vessels based on a minimum encirclement structure. Background Technology

[0002] With the increasing marine development activities and the advancement of intelligent maritime equipment technology, unmanned surface vessels (USVs) have been widely used in maritime patrol, marine surveillance, target tracking, and coordinated capture operations due to their advantages such as high maneuverability, low cost, and high autonomy. When USVs perform capture missions, because maritime targets typically possess strong maneuverability, a single USV often struggles to effectively restrict the target's movement. Therefore, it is usually necessary to form a swarm of multiple USVs and use coordinated control to capture the target.

[0003] In the collaborative encirclement and capture process of unmanned surface vessels (USVs), USVs typically need to form a spatial structure around the target to restrict the target vessel's feasible movement direction, continuously compressing its movement space, and ultimately achieving effective encirclement and capture of the target. However, in existing technologies, the construction of encirclement structures usually relies on empirical design or simple geometric rules, lacking theoretical analysis of the rationality of the encirclement structure, and failing to systematically study the minimum number of USVs required to complete the encirclement mission. This often leads to the deployment of too many USVs in practical applications, resulting in a waste of system resources.

[0004] Therefore, there is an urgent need for a method that can theoretically guarantee the effectiveness of the encirclement structure while achieving coordinated encirclement with a minimum number of unmanned surface vessels, so as to improve the success rate of encirclement and reduce system resource consumption and control complexity. Summary of the Invention

[0005] To address the problems of insufficient theoretical basis for encirclement structures and resource waste caused by unreasonable configuration of unmanned surface vessels (USVs) in existing technologies, this invention provides a collaborative encirclement method for USV swarms based on a minimum encirclement structure, specifically including the following steps:

[0006] Acquire status information of the target ships and surface unmanned surface vessel clusters; Establish target motion constraint relationships based on the aforementioned state information; The conditions for successful coordinated encirclement and capture by a swarm of unmanned surface vessels are determined based on the aforementioned motion constraints. Based on the conditions for successful encirclement, calculate the minimum number of unmanned surface vessels required to complete the encirclement mission. Identify the capture points corresponding to each unmanned surface vessel to form a capture structure that meets the conditions for successful coordinated capture; The navigation direction of each unmanned surface vessel is calculated based on its current position and the corresponding capture point. If any unmanned surface vessel fails to reach its corresponding capture point, the status information is updated, the capture point is re-determined, and the navigation direction is adjusted until all unmanned surface vessels reach their corresponding capture points.

[0007] Furthermore, the status information of the target vessel and the unmanned surface vessel cluster is obtained, including the position of the target vessel and the position of each unmanned surface vessel participating in the encirclement mission.

[0008] Furthermore, a target motion constraint relationship is established, and the formula for the motion constraint relationship is:

[0009] in, The target ship's direction of motion angle, To point the target vessel to the The azimuth angle of an unmanned surface vessel.

[0010] Furthermore, the successful encirclement condition is that the target vessel will approach at least one unmanned surface vessel whenever it moves in any direction. The formula for the successful encirclement condition is:

[0011] in, The target ship's direction of motion angle, To point the target vessel to the The azimuth angle of an unmanned surface vessel.

[0012] Furthermore, based on the aforementioned successful encirclement conditions, the minimum number of unmanned surface vessels required to complete the encirclement mission is calculated, wherein the number of unmanned surface vessels... The conditions to be met are:

[0013] Right now:

[0014] in, To point the target vessel to the The azimuth angle of the surface unmanned surface vessels; therefore, the minimum number of surface unmanned surface vessels required for the encirclement mission is 3.

[0015] Furthermore, the virtual structure method is used to determine the encirclement structure that meets the conditions for successful collaborative encirclement; the task allocation algorithm is used to determine the encirclement point corresponding to each surface unmanned vessel.

[0016] Furthermore, based on the current position of each surface unmanned surface vessel and its corresponding encirclement point, the navigation direction of each surface unmanned surface vessel is calculated. The formula is:

[0017] in, For the first The current location of the unmanned surface vessel. For the first Location of the encirclement point for the unmanned surface vessel.

[0018] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention analyzes the spatial geometric relationship between the target ship's direction of motion and the surface unmanned vessel, establishes the constraint relationship between the target's direction of motion and the surface unmanned vessel's azimuth angle, and proposes the conditions for successful swarming and encirclement of surface unmanned vessels. This ensures that the target will approach at least one surface unmanned vessel when it moves in any direction, thus theoretically guaranteeing that the encirclement structure can effectively restrict the target's direction of motion, thereby improving the reliability and theoretical basis of the encirclement strategy.

[0019] (2) The present invention further derives that the minimum number of surface unmanned boats required to complete the encirclement task is three, and constructs the corresponding minimum encirclement structure so that the surface unmanned boats form a closed spatial constraint relationship around the target. While ensuring the encirclement effect, it reduces unnecessary investment of unmanned boats, thereby improving the system resource utilization efficiency and reducing the complexity of collaborative control. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a collaborative encirclement and capture method for unmanned surface vessels based on a minimum encirclement structure according to the present invention.

[0022] Figure 2 This is a flowchart of a collaborative encirclement and capture method for unmanned surface vessels based on a minimum encirclement structure, as described in an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] As attached Figure 1 As shown, this invention discloses a collaborative encirclement method for unmanned surface vessels (USVs) based on a minimum encirclement structure, which mainly includes the following steps: S1. Obtain the status information of the target ships and the unmanned surface vessel cluster.

[0026] S2. Establish target motion constraint relationships based on the state information.

[0027] S3. Determine the conditions for successful coordinated capture of unmanned surface vessels based on the aforementioned motion constraint relationship.

[0028] S4. Based on the conditions for successful encirclement, calculate the minimum number of unmanned surface vessels required to complete the encirclement mission.

[0029] S5. Determine the capture points corresponding to each unmanned surface vessel to form a capture structure that meets the conditions for successful coordinated capture.

[0030] S6. Calculate the navigation direction of each unmanned surface vessel based on its current position and the corresponding capture point. If any unmanned surface vessel has not reached the corresponding capture point, update the status information, redetermine the capture point and adjust the navigation direction until all unmanned surface vessels reach the corresponding capture point.

[0031] As a preferred embodiment of this application, the status information of the target vessel and the swarm of unmanned surface vessels is obtained, the status information including the position of the target vessel and the position of each unmanned surface vessel participating in the encirclement mission.

[0032] In a preferred embodiment of this application, a target motion constraint relationship is established, and the formula for the motion constraint relationship is:

[0033] in, The target ship's direction of motion angle, To point the target vessel to the The azimuth angle of an unmanned surface vessel.

[0034] In a preferred embodiment of this application, the successful encirclement condition is that the target vessel will approach at least one unmanned surface vessel whenever it moves in any direction. The formula for the successful encirclement condition is as follows:

[0035] in, The target ship's direction of motion angle, To point the target vessel to the The azimuth angle of an unmanned surface vessel.

[0036] As a preferred embodiment of this application, based on the stated conditions for successful encirclement, the minimum number of unmanned surface vessels (USVs) required to complete the encirclement mission is calculated, wherein the number of USVs... The conditions to be met are:

[0037] Right now:

[0038] in, To point the target vessel to the The azimuth angle of the surface unmanned surface vessels; therefore, the minimum number of surface unmanned surface vessels required for the encirclement mission is 3.

[0039] As a preferred embodiment of this application, the virtual structure method is used to determine the encirclement structure that meets the conditions for successful collaborative encirclement; and the task allocation algorithm is used to determine the encirclement point corresponding to each surface unmanned vessel.

[0040] In a preferred embodiment of this application, the navigation direction of each surface unmanned surface vessel is calculated based on its current position and the corresponding encirclement point. The formula is:

[0041] in, For the first The current location of the unmanned surface vessel. For the first Location of the encirclement point for the unmanned surface vessel.

[0042] Example The following is in conjunction with the appendix Figure 2 The present invention will be further described in detail with reference to specific embodiments.

[0043] S1. Obtain the status information of the target vessel and the unmanned surface vessel. Obtain the location of the target vessel At the same time, obtain the participation in the encirclement mission Location of the unmanned surface vessel:

[0044] in, Indicates the first unmanned surface vessels The location.

[0045] S2. Establish target motion constraints. The target's direction of motion and the surface unmanned vessel The angle between the connecting lines is less than At that moment, the distance between the target and the unmanned surface vessel will decrease, posing a risk to the target's movement in that direction, thus limiting the target's movement.

[0046] in, The target's direction angle. Targeting unmanned surface vessels P i The azimuth angle.

[0047] S3. Determine the conditions for successful coordinated encirclement and capture by a swarm of unmanned surface vessels. During the encirclement and capture process, the target vessel can move in any direction. To achieve effective encirclement and capture, it is necessary to ensure that the target will approach at least one unmanned surface vessel whenever it moves in any direction. .

[0048] S4. Determine the minimum number of unmanned surface vessels. To meet the conditions for successful coordinated capture by a swarm of unmanned surface vessels (USVs) and to create comprehensive constraints on the target vessel's movement direction, the number of USVs in the swarm is crucial. n It should meet the following requirements:

[0049] Right now:

[0050] Therefore, the minimum number of unmanned surface vessels required for the encirclement and capture mission .

[0051] S5. Determine the capture points corresponding to each surface unmanned vessel. The steps for assigning tasks using the Hungarian algorithm to obtain the corresponding capture points for each unmanned surface vessel cluster are as follows: S51. With the target ship as the center and a radius of... R Three capture points are evenly selected around the circumference. , , :

[0052] Among them, three encirclement points , , A set of , satisfying:

[0053] in, Indicates the first One capture point.

[0054] S52. Calculate the distance between the unmanned surface vessel and the encirclement point, and construct the cost matrix. :

[0055] Among them, the unmanned surface vessels Location to the encirclement point Distance between satisfy: .

[0056] S53. Establish the allocation matrix :

[0057] The allocation matrix elements Represented as:

[0058] Allocation matrix elements Satisfy the constraint conditions:

[0059] .

[0060] S54. Establish a task allocation optimization model : .

[0061] S55. Solve the task allocation optimization model using the Hungarian algorithm to obtain the optimal allocation matrix. Determine the capture points corresponding to each unmanned surface vessel. : .

[0062] S6. Determine the course of each surface unmanned surface vessel. Based on the identified capture points corresponding to each surface unmanned surface vessel (USV), the navigation direction of each USV is set, and each USV travels in this direction. The steps for calculating the navigation direction of each USV are as follows: S61, Calculation of unmanned surface vessels Corresponding capture points right gravitational potential field :

[0063] in, This is the gravitational gain coefficient. This indicates the size of an unmanned surface vessel. Arrival at the capture point The Euclidean distance between them, in the direction from the unmanned surface vessel. Pointing to the encirclement point The vector.

[0064] S62, Calculate Obstacles unmanned surface vessels repulsive potential field :

[0065] in, The repulsive force gain coefficient, The range of influence of the obstacle. This indicates the size of an unmanned surface vessel. Reach the obstacle location The Euclidean distance between them, in the direction from the location of the obstacle. Pointing to the surface unmanned boat The vector.

[0066] S63, Calculation of unmanned surface vessels Affected by the overall external situation : .

[0067] S64, Calculation of Unmanned Surface Vessels The combined force received : .

[0068] S65, Calculation of unmanned surface vessels course :

[0069] in, and The resultant force along shaft and The component of the force on the axis.

[0070] S66, Control of unmanned surface vessels With speed along the course Proceed forward; if any unmanned surface vessels fail to reach their corresponding encirclement points, repeat steps S1 to S6 until all unmanned surface vessels reach their corresponding encirclement points, forming a stable encirclement structure around the target and completing the coordinated encirclement mission.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for collaborative encirclement and capture of unmanned surface vessels based on a minimum encirclement structure, characterized in that, Includes the following steps: Acquire status information of the target ships and surface unmanned surface vessel clusters; Establish target motion constraint relationships based on the aforementioned state information; The conditions for successful coordinated encirclement and capture by a swarm of unmanned surface vessels are determined based on the aforementioned motion constraints. Based on the conditions for successful encirclement, calculate the minimum number of unmanned surface vessels required to complete the encirclement mission. Identify the capture points corresponding to each unmanned surface vessel to form a capture structure that meets the conditions for successful coordinated capture; The navigation direction of each unmanned surface vessel is calculated based on its current position and the corresponding capture point. If any unmanned surface vessel fails to reach its corresponding capture point, the status information is updated, the capture point is re-determined, and the navigation direction is adjusted until all unmanned surface vessels reach their corresponding capture points.

2. The method for collaborative encirclement and capture of unmanned surface vessels based on a minimum encirclement structure according to claim 1, characterized in that, The status information of the target vessel and the swarm of unmanned surface vessels is obtained, including the position of the target vessel and the position of each unmanned surface vessel participating in the encirclement mission.

3. The method for collaborative encirclement and capture of unmanned surface vessels based on a minimum encirclement structure according to claim 1, characterized in that, Establish the target motion constraint relationship, and the formula for the motion constraint relationship is: in, The target ship's direction of motion angle, To point the target vessel to the first The azimuth angle of an unmanned surface vessel.

4. The method for coordinated encirclement and capture of unmanned surface vessels based on a minimum encirclement structure according to claim 1, characterized in that, The successful encirclement condition is that the target vessel will approach at least one unmanned surface vessel whenever it moves in any direction. The formula for the successful encirclement condition is: in, The target ship's direction of motion angle, To point the target vessel to the first The azimuth angle of an unmanned surface vessel.

5. The method for collaborative encirclement and capture of unmanned surface vessels based on a minimum encirclement structure according to claim 1, characterized in that, Based on the aforementioned conditions for successful encirclement, calculate the minimum number of unmanned surface vessels (USVs) required to complete the encirclement mission. The conditions to be met are: Right now: in, To point the target vessel to the first The azimuth angle of the surface unmanned surface vessels; therefore, the minimum number of surface unmanned surface vessels required for the encirclement mission is 3.

6. The method for collaborative encirclement and capture of unmanned surface vessels based on a minimum encirclement structure according to claim 1, characterized in that, The virtual structure method is used to determine the encirclement structure that meets the conditions for successful collaborative encirclement; the task allocation algorithm is used to determine the encirclement point corresponding to each surface unmanned vessel.

7. The method for coordinated encirclement and capture of unmanned surface vessels based on a minimum encirclement structure according to claim 1, characterized in that, The navigation direction of each surface unmanned surface vessel is calculated based on its current position and the corresponding capture point. The formula is: in, For the first The current location of the unmanned surface vessel. For the first Location of the encirclement point for the unmanned surface vessel.

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