Research On Regional Configuration Optimization Based On Collaborative Detection Of Underwater Unmanned Platforms

Underwater unmanned cluster is widely used in underwater area reconnaissance,early warning detection and other fields.As a node in the underwater information detection network,the platform enhances the expansibility and reliability of the network,but the detection efficiency of the platform restricts its behavior choice,the multi-platform array of collaborative exploration restricts the performance of the detection network,and the patrol route of the platform restricts the ability of fast information acquisition of the network.Therefore,this paper studies the multi-platform cooperative detection efficiency model,deployment optimization,route optimization and so on.Firstly,in order to reflect the detection efficiency of underwater unmanned platform environment adaptation more truly and objectively,a comprehensive multi-platform collaborative detection efficiency model is constructed in this paper,and makes physical model preparation for array optimization and route optimization.Based on sonar system information process,the sound propagation model of conducive to engineering,target strength model,the model of environmental noise.Through the signal to noise ratio and the relation between the detection probability for the platform of collaborative detection probability of the target point in the area of,and fusion,the results of the detection probability of each platform to platform of collaborative detection efficiency probability is obtained.Furthermore,the platform deployment,frequency,working mode and environmental factors that restrict the effectiveness are quantitatively analyzed.Secondly,the multi-platform deployment of collaborative detection in the region is optimized according to the multi-platform collaborative detection efficiency model.The genetic algorithm and cuckoo algorithm in swarm intelligence algorithms are selected for comparison under the Boolean perception model.The simulation shows that the cuckoo algorithm has better convergence speed and effect.Aiming at the problem that the cuckoo algorithm is slow in late convergence and easy to fall into the local optimal,an improved cuckoo algorithm which introduces gaussian mutation operator and tournament selection mechanism is proposed.The multi-platform based on principle of the maximum effective coverage area of the region was optimized for deployment.The improved cuckoo algorithm was used to optimize the deployment of the multi-platform under the different working modes of passive platforms,multi-platform in the region.In view of the problem of the platform's continuous tracking of mane UUV targets,firstly,the interactive multi-model algorithm is used to give the trajectory prediction information of mane UUV targets.And the improved cuckoo algorithm is used to optimize the deployment of the platform combined with the prediction point information.The simulation results show that the algorithm in this paper can meet the continuous detection demand of dynamic target tracking in the region.Finally,according to the underwater unmanned platform detection efficiency model,the patrol route of the platform in the area is optimized.The idea of this paper is to first transform the path optimization problem into the travel agent problem.Then divide the task area equally,transform the multi-platform area patrol route optimization into the multi-subdomain single platform patrol route optimization problem,and then use the improved cuckoo algorithm to generate the point trace under the area coverage.At last,the path planning of the points is done.Simulated annealing algorithm and basic ant colony algorithm are selected,and an improved ant colony annealing algorithm with annealing mechanism is proposed.The optimization results of the ant colony algorithm and the improved ant colony annealing algorithm are compared and analyzed by simulation,and the effectiveness of the improved ant colony annealing algorithm is verified.In this paper,the detection efficiency model of underwater multi-platform is established under the circumstance of environmental adaptation,and the array optimization method combining with the physical model to maximize the effective detection range of multiplatform according to the region and the route optimization method according to the shortest path length are given,which provides a method reference for cluster region configuration.