水面无人艇的抗追捕-逃跑策略

Anti-pursuit evasion strategy of an unmanned surface vehicle

针对美国海军的"蜂群"水面无人艇战术,本文研究了水面无人艇在受到多艘敌艇追捕情况下的逃跑路径规划问题。在多障碍物环境模型下,考虑水面无人艇的实际体量和操纵性能约束,提出了一种基于阿波罗尼奥斯圆和安全裕量的敌方水面无人艇威胁区域建模方法。根据威胁区域确定了水面无人艇的被包围状态集和抗追捕-逃跑策略集,并通过两个集合之间的映射关系自主调整逃跑方向。仿真结果表明本文的策略能有效避免我方水面无人艇被敌方捕获,对提高水面无人艇的环境适应性和自主性具有积极意义。

Aiming at ＂Swarm Tactics＂of unmanned surface vehicle（USVs） proposed by the Navy of the United States of America,this study analyzed the evasion path planning strategy of a USV when it is hunted by several enemy USVs. The actual volume and maneuverability constraints of USVs were considered in the cluttered environments. A threat area modeling method of enemy USVs was proposed based on Apollonius circle and safety margin.The encompassed-state set and the anti-pursuit evasion strategy set were obtained based on the threat area,and the escape direction of USV was adjusted in accordance with the mapping relationship between the two sets. Results show that the strategy in the paper could effectively prevent our USVs from being captured by the enemy. It demonstrated active significance for improving the environmental adaption and autonomy of USVs.