USV&AUV水下目标协同搜索与打击航迹规划

异构载运工具合作执行复杂任务是提高任务完成效率的有效手段,已被广泛应用于军事与民用任务.关注对水下目标的搜索与打击任务,此项任务由水面航行器(unmanned surface vehicle, USV)与水下航行器(autonomous underwater vehicle, AUV)合作完成.首先描述USV&AUV系统的框架以及USV与AUV在系统中发挥的作用.在协同航迹规划模型中,整个任务被划分为目标搜索和目标打击两个阶段,两个阶段的目标分别是使得搜索空间最大和AUV与目标的末端位置误差最小.模型中的约束包括USV和AUV的机动能力、目标探测能力、通讯范围等.在协同策略的设计中,针对该任务两个阶段的特点,分别基于随机模拟实验和异步规划策略设计协同航迹规划算法,以集中式和分布式模式分别生成两阶段的航迹.仿真结果表明, USV&AUV系统能够在不同的条件下完成对水下目标的搜索与打击任务.在目标打击阶段,与集中式规划结构相比,分布式规划结构能够应对各种复杂的场景并成功完成任务.

Coordinated path planning of USV&AUV for an underwater target

Coordination among heterogeneous vehicles becomes an effective approach to improve the efficiency of completing complicated tasks, which has been widely applied both to military and civil mission. The search and strike mission for underwater targets is focused on, and this mission is executed by the cooperation between an unmanned surface vehicle (USV) and an autonomous underwater vehicle (AUV). First, the framework of the USV&AUV system is described, and the roles of USV and AUV in this mission are defined. In the coordinated path planning model, the whole mission is divided into the search phase and the strike phase, and the indexes are maximizing the search space and minimizing the terminal position error respectively. The maneuverability, target detection capability and communication range of vehicles are all taken into account in this model. According to the characteristic of different phases, strategies based on random simulation experiments and asynchronous planning are developed respectively, and the paths are generated in a centralized or a distributed mode. Simulation results show that the USV&AUV system can complete the search and strike mission in different cases. Compare to the centralized mode, the distributed mode can address various situations in the strike phase.