基于有限状态机的UUV集群围捕策略研究

Research into UUV Cluster Encirclement Strategy Based on Finite State Machine

针对无人水下航行器(UUV)集群围捕策略问题,提出了一种基于有限状态机的UUV集群围捕策略。首先根据UUV的运动学模型建立了一种基于阿波罗尼斯圆的UUV集群围捕模型,针对UUV集群是否对目标UUV形成包围圈进行讨论,对目标的逃逸策略进行了设计。综合上述研究,提出了基于有限状态机的UUV集群围捕策略,根据目标UUV所处的状态,设计各围捕者的状态转移规则,并通过仿真验证了围捕策略的有效性。仿真结果表明,设计的UUV集群围捕策略可应用于无人水下航行器的围捕任务。

Aiming at the encirclement strategy problem of unmanned underwater vehicle(UUV)cluster,an UUV cluster encirclement strategy based on finite state machine is proposed.Firstly an UUV cluster encirclement model based on the Apollonius circle is established according to the UUV kinematics model.Whether the UUV cluster forms an encircling circle for the target UUV is discussed,and the target escape strategy is designed.Based on the above research,an UUV cluster encirclement strategy based on the finite state machine is proposed.According to the state of the target UUV,the state transition rules of each hunter are designed.And then the effectiveness of the encirclement strategy is verified by simulation.The simulation results show that the designed UUV cluster encircling strategy can be applied to the encircling mission of unmanned underwater vehicles.