多无人艇协同区域警戒算法研究

Research on the distributed algorithm for multi-USV cooperative regional alert

水面无人艇因其成本低、速度快、体积小、运动灵活等优势,在军用和民用领域应用日益广泛,如何提高多无人艇在大范围水域协同警戒执行效率已成为该领域的研究重点。本文提出基于人工势场的多无人艇分布式算法,为多无人艇大区域巡逻警戒与跟踪监视问题提出解决方案,降低了无人艇受损后对任务执行产生的不利影响,也为多无人艇大范围水域灵活部署以及任务执行效率提高等应用提供参考。

Unmanned surface vehicle(USV) is now widely applied in the military and civil field for its advantages in low cost, high velocity, small volume and flexible movement. How to increase the execution efficiency of cooperative alert task is a focused issue. In this article, the author proposes a new multi-USV distributed algorithm based on artificial potential field, which brings forward a solution for the USVs′ patrol, tracking, surveillance and guard in broad water areas. By applying the distributed algorithm in the multi-USV cooperative regional alert, the impact can be reduced when some of the USVs are damaged. The distributed algorithm provides a reference for the flexible deployment of multi-USV in broad water areas and can improve the task execution efficiency.