多水下航行器协调作业的分布优化算法研究

According to the actual problems such as limited and fragile communication ability, espicially limited storage and computation ability of information data etc. which are included in the process of the coordinated operation of multiple underwater unmanned vehicles (MUUV). Besed on logic dynamic systems theory, the project focus on theoretical problem investigation of MUUV optimal coordination operation aiming at improving the engineering applicability of the optimal decision-making algorithm. The main work is: Since, in practice, the communication among MUUV is easy to be interrupted, and information storage is limited, etc. The project is under the framework of game theory with finite numbers of elements in strategy set, investigate, on the premise of local communication and individual benefit maximization, optimal coordination problems such as coordination path tracking and round-capturing for MUUV. Specifically, the optimization coordination of the MUUV is regarded as an optimization decision problem under the framework of game theory based on multi-agent distribution optimization algorithm. On this basis, first of all, based on game theory and matrix semi-tensor method, construct the logic dynamic model for MUUV coordinated path tracking and round-capturing problem respectively, the model is a logical structure matrix representation, which can clearly depict the decision rules for the optimization coordination of a UUV; Secondly, using logic dynamic system theory, by analyzing the dynamic characteristics and the logical structure matrix characteristics, study of these two kinds of optimization decision algorithm is performed, and further study on the communication time delay and noise influence on the optimal decision algorithm; Finally, based on physical simulation platform, the validity of the proposed algorithm is verified, and visualization simulation software is developed.

针对多自主水下航行器（MUUV）在协调作业中存在通讯范围有限且易于中断，特别是信息数据的存储与计算能力有限等实际问题，本项目提出基于逻辑动态系统理论的分布优化算法进行MUUV协调作业的理论研究，旨在提高MUUV优化协调算法的工程适用性。主要工作是：本项目在博弈论的框架下，研究在局部通讯情况下的MUUV在协调路径跟踪和围捕追逃等方面的优化协调算法。具体地，把MUUV的优化协调作业问题看作是博弈论框架下基于多智能体分布优化算法的决策问题。在此基础上，首先基于矩阵半张量积方法，分别构建MUUV在协调路径跟踪和围捕追逃的逻辑动态模型，该模型具有逻辑结构矩阵表示形式，它能清楚地刻画UUV优化协调的决策规则；其次利用逻辑动态系统理论，通过分析其动态特性和逻辑结构矩阵特征，研究这两种优化协调问题的决策算法，以及通讯时延和噪声对优化决策算法的影响; 最后通过水池实验验证所给出的算法，并开发一套可视化软件。

针对多自主水下航行器（MUUV）在协调作业中存在通讯范围有限且易于中断，特别是信息数据的存储与计算能力有限等实际问题，本项目提出基于逻辑动态系统理论的分布优化算法进行MUUV协调作业的理论研究，旨在提高MUUV优化协调算法的工程适用性。主要内容：本项目在博弈论的框架下，研究在局部通讯情况下的MUUV在协调路径跟踪和围捕追逃等方面的优化协调算法，给出基于矩阵半张量积方法逻辑结构矩阵表示形式；重要成果：给出基于矩阵半张量积方法逻辑结构矩阵表示形式；利用逻辑动态系统理论，提出两种优化协调问题的决策算法，以及通讯时延和噪声对优化决策算法的影响。共发表论文8篇，出版专著两部。该研究成果对于多水下航行器的协调作业提出了更加可行的设计方案 ，理论和工程意义明显。