非对称博弈下多UUV基地防卫协同对抗策略

针对非对称博弈下的水下无人对抗问题，开展对基于基地防卫的多无人水下潜航器(unmanned underwater vehicles, UUVs)协同对抗策略研究。在双方能力和数量有差异的非对称博弈情况下，设计UUV基本行为，分别基于红、蓝方能力设计对抗策略选择方法；本文提出红方多UUV分层决策算法，并设计红方多UUV角色分配方法；在防卫任务中基于目标偏航角设计两种红方多UUV联合防卫方法；并相应给出设计蓝方UUV策略及决策方法。最后设计水下对抗仿真实验，从对抗过程的事件决策、UUV机动控制等方面验证了本文设计的对抗方法对水下非对称条件下的多UUV对抗问题具有有效性。

Multi-UUV base defense cooperative countermeasure under the asymmetric game condition

Aiming at the problem of unmanned underwater warfare under the asymmetric game condition, in this paper, we examine the cooperative countermeasure of multiple unmanned underwater vehicles (UUVs) based on base defense. In an asymmetric game with differences in ability and quantity between the red and blue sides, the basic behaviors of UUVs and the selection methods of the countermeasures of both sides are designed. This paper proposes a hierarchical decision-making algorithm for the red side and designs a role assignment method of its UUVs. In a defense task, two kinds of red-side multi-UUV joint defense methods are designed based on the target yaw angle; the strategy and the decision-making method of UUVs of the blue side are given correspondingly. Finally, the simulation experiment of underwater confrontation is designed, and the effectiveness of the proposed method with respect to multi-UUV confrontation under an underwater asymmetric game condition is verified from the aspects of event decision-making and UUV maneuver control in a confrontation.