A Behavior-Based Self-Organizing Coordinated Control Method for Multiple UUVs

Abstract

The invention relates to a behavior-based multi-UUV self-organization coordination control method, including: Step 1: Construct the mapping relationship between the immune network and the multi-UUV system, and define related parameters; Step 2: Propose coordination control based on basic behavior actions Dynamics model, and realize the fractional Brownian motion modeling of the operating environment error; Step 3: The multi-UUV self-organization coordination control based on the immune network is given in a discrete state, which satisfies the cooperative control of the multi-UUV system under the distributed structure, and realizes the Surrounding operations of enemy targets; this method has the characteristics of strong self-organization, fault tolerance, real-time, etc., and is convenient for the engineering realization of underwater unmanned systems.

Description

technical field [0001] The invention relates to the field of underwater unmanned system modeling and simulation, in particular to a behavior-based multi-UUV self-organization coordination control method. Background technique [0002] The multi-UUV system is an underwater network composed of a variety of homogeneous or heterogeneous UUV unmanned systems with distribution of space, time, events and functions. Compared with a single UUV, it has higher operating efficiency and wider application fields. In the lower network, it plays various roles such as pre-detection, communication node, attack weapon, and launch platform, which has become a hot spot in the research of civilian and military fields in my country's deep-sea strategy. [0003] In the field of military applications, the multi-UUV system is a complex underwater unmanned combat system in which the weapon system, underwater environment and operational missions are coupled and influenced each other. The realization of ...

AI Technical Summary

Problems solved by technology

The centralized UUV coordinated control model must carry out unified planning and coordination of tasks through the coordinated control center. If the perception information is complete and the computing power of the coordination center is guaranteed, the global optimal solution of the entire planning system can be obtained; although the calculation of this type of model is simple , convenient, but the application scenarios are often limited, and its dynamics and robustness are poor

Since the distributed coordinated control model adopts a bottom-up modeling mechanism, it can not only satisfy multiple constraints, but also ensure the minimum cost of the coordination process. It has become the focus of current multi-UUV system coordinated control research; this type of model mainly includes method, a method based on market theory and a method based on self-organization theory. Inspired by the structure and principle of neural network, the method based on self-organization theory maps the operating environment and information perception into the behavior model to realize the path of multi-UUV system planning, but the model is based on the ideal conditions of UUV dynamic motion, which reduces the practicality and synergy of the model for actual underwater collaborative applications

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