| As an important member in the war of ocean unmanned system,UUV has the advantages of good mobility,strong concealability and high intelligence degree.Therefore,UUV is widely used in military reconnaissance,detection,tracking,target attacking and other missions.And with the need to safeguard maritime sovereignty and environmental security,UUV plays an increasingly important role.Based on attack base UUVs against base defense UUVs asymmetric strategy as the research content,Taking the attack base UUVs group undertaking the mission as the research object,UUV model construction,UUV motion controller design,counter battlefield threat assessment,UUV attack method and counter array site,UUV group counter strategy and other aspects are studied:Firstly,the UUV fixed coordinate system and the motion coordinate system are established.The kinematics model was proposed based on the parameter conversion of the two coordinate systems.The UUV dynamic model is obtained based on the rigid body motion model.Through the simplification of the UUV model,the three degrees of freedom UUV model of the horizontal plane was obtained.The design of the stationary linear motion and rotary motion experiment of the horizontal plane verified the correctness of the model.Based on the incremental PID control principle,the UUV velocity and heading controller are designed,and the effectiveness of the motion controller is verified by experimental simulation.A UUV forward-looking sonar detection model for attack bases is proposed.Based on the need of cooperative confrontation,the overall framework of UUVs confrontation in offensive bases is proposed.Secondly,analyzing the threat evaluation index of the enemy base defense UUV in the confrontation.Comparing with the mainstream weight determination method,the threat assessment method based on AHP is proposed,and the AHP threat assessment method is verified by the design of simulation case.Aiming at the shortcomings of AHP threat assessment methods that are highly subjective and cannot make full use of known information,a UUV cooperative countermeasure threat ranking method based on the principle of maximum membership is proposed.The threat capability index of the enemy UUV is established according to the known knowledge base,the situational threat index is established based on the detection information,the threat ranking mathematical model is established through the principle of maximum membership degree,and the simulated annealing algorithm is introduced to solve the threat model.Thirdly,the UUV torpedo attack method is selected,the analysis of the firing position proposes immediate attackable and occupant attackable parameters,the calculation method of occupancy attackable parameters is given,and the UUV firing range of the confrontation is analyzed and the favorable firing position range and Unfavorable shooting position range,based on this design UUV attack module and carried out experimental verification;Based on the mission and task,the individual behavior of the offensive base UUV is designed,and the penetration strategy of the offensive base UUVs is designed based on the mission of intruding against the enemy base and the real-time threat assessment results,and the switching mechanism of the penetration strategy is given.Finally,in view of the conflict problem in the implementation of the UUVs strategy of the offensive base,combined with the collision avoidance principle of dynamic obstacles and static obstacles,a method of path crossing collision avoidance based on task priority and a method of path blocking collision avoidance are proposed;A simulation study is carried out on some strategies in the scenario;comprehensive simulation experiment are designed to design and experimentally verify the UUV individual and group strategies for base defense. |
