Research Of MAUV Pursuit Strategy Based On Wolf Pack Algorithm

As the exploitation of the ocean has been accelerated and deepened constantly,the technology of Autonomous Underwater Vehicle(AUV)has been an important tool in the exploration of the oceans,and has led to a great deal of attention from scientists.It has begun to flourish.In recent years,AUV have played an increasingly important role in marine environmental monitoring,data collection,regional search and Haitian target detection.However,due to the complexity of the tasks undertaken by AUV,a single AUV is beginning to fail to satisfy the needs of the work.As a result,the researchers began to conduct in-depth study of AUVs systems.The spatial distribution of AUVs systems,the high efficiency,robustness and flexibility are shown in the process of task execution.They are all can't be achieved by single AUV.The problem of AUVs coordination pursuit is an extremely important part of AUVs research on coordination task of self-organization.The key technology will be applied in civil,industrial and military fields.In this dissertation,The problem of AUVs coordination pursuit refers to that a group of AUVs,which can be used to round up a target body through collaborative cooperation.The wolf pack algorithm is applied to the AUVs system,which can improve the system stability.In this dissertation,we study the problem of AUVs coordination pursuit in two-dimensional space mainly.Wolf pack algorithm abstracted the wolves predation method into three swarm intelligence behaviors,such as walking,summoning raids and siege targets.Firstly,the background and the research status at home and abroad of the problem of AUVs system and AUVs coordination pursuit have been introduced.In the meantime,this dissertation has a detailed introduction to the wolf pack algorithm.Secondly,this dissertation divides the rounded targets involved in the problem of AUVs coordination pursuit into static targets and dynamic targets,Then the specific criteria for successful pursuit has been given.In this research,the AUV model and the wolf pack algorithm model have been established,and coordination hunt strategies based on wolf group algorithm have been designed.Then,the wolf pack algorithm has been optimized.It also has been applied to solve the problem of AUVs coordination pursuit.Finally,the simulation experiment is carried out by using MATLAB,which confirms that the basic wolf pack algorithm can be applied to solve the problem of AUVs coordination pursuit,which its effectiveness has been proved.At the same time,the influence of the basic wolf pack algorithm with different coefficients on the success rate of the hunt is verified.Then,the simulation of the optimized wolf pack algorithm illustrates that it will influence the AUVs coordination pursuit problem.The experimental results show that the improved wolf pack algorithm model can improve the result of successful hunt.