潜艇与智能无人水下航行器协同系统控制体系及决策研究

无人作战是未来战争发展的必然趋势，然而，当下无人水下航行器（UUV）的智能水平有限，造成UUV编队在水下网络中心战（UWNCW）中的应用具有局限性。针对以上问题，将人的智能引入智能UUV编队，形成一种潜艇与智能UUV结合的协同系统，分析了系统的优点及复杂性，并对系统的控制体系结构及决策问题等关键技术进行了研究。对系统在突发威胁情况下的航迹规划过程进行了仿真，仿真结果表明潜艇与智能UUV协同系统能够有效地实现避障并能躲避突发威胁，提升了整个系统的应急能力。

Research on Control and Decision-making of Submarine and Intelligent UUV Cooperative System

The unmanned battle is a development tendency of the future war,but the intelligent level of unmanned underwater vehicle (UUV) is limited,thus leading to the limitation in the application of UUV formation in the underwater network centric warfare.For the above-mentioned issue,human intelligent is introduced into the intelligent UUV formation to form a cooperative-combat system combining submarine and intelligent UUV,and the advantages and complexity of the system are analyzed.The key technologies of organization structure and decision-making of the system are researched.And finally,the system is simulated to test and verify its effectiveness.The simulation of path planning in the presence of emerging threat is carried out,and the result indicates that the submarine and intelligent UUVs cooperative system is able to realize obstacle avoidance and threat avoidance effectively,and the system's emergency response capability is improved.