Research On Route Planning Algorithms Of Underwater Multi-Platform Cooperative Penetration

During the attack-defense campaign of underwater platform and its enemy on the sea,the underwater platform always launches missiles to attack.Before the attacking,in order to minimum the loss of hitting enemy,it is necessary to analyze and find the weakness in the enemy's layout.In addition,it can ensure the missiles attack effectiveness by planning missiles' routes.The planed routes should meet the requirements of time and space cooperative.This paper firstly proposes a network invulnerability measure analysis method based on spectral clustering algorithm by considering the overall layout of the enemy.Aiming at the problem of route planning,two algorithms are proposed in this article including quantum genetic route planning algorithm based on RRT(QG-RRT)and quantum genetic route planning algorithm based on bidirectional RRT(QG-BRRT).At the same time,the method of presetting the target point is used to achieve multi-route planning.The main works of the paper are as follows:Firstly,it clarifies the research background and significance of this paper.It also summarizes the current research status of network invulnerability measurement and missile route planning.In addition,the paper lists the relevant fundamental theories which will be used in this article.Secondly,this paper proposes a network invulnerability measure analysis method based on spectral clustering algorithm.Different from the traditional heuristic attack method,the method in this paper determines the weak connection of the network by considering the whole net.By analyzing the adjacency of the network,the method selects the local and global characteristics of the nodes to construct the attribute information table of nodes and calculate the weight of each attribute.The similarity matrix of the network is constructed by the attribute information table,the attribute weight and the adjacency matrix.Combining the similarity matrix,the network nodes are classified by spectral clustering algorithm.The weak connecting edges of the network are found through the clustering result.Afterwards the feasibility of the method is verified by several typical networks.Finally,based on the idea of quantum genetic algorithm,two algorithms are proposed including quantum genetic route planning algorithm based on RRT(QG-RRT)and quantum genetic route planning algorithm based on bidirectional RRT(QG-BRRT).These algorithms improve the stability of RRT and bidirectional RRT algorithm.The proposed algorithms are verified by the setting scene.In order to avoid the intersection of routes in multi-route planning,this section proposes the methods of selecting the presetting target point based on the proposed QG-RRT and QG-BRRT algorithms.The improved method is simulated by experiments.