CN-117455055-B - Unmanned ship cluster designated time position decision method and device based on game theory

CN117455055BCN 117455055 BCN117455055 BCN 117455055BCN-117455055-B

Abstract

The invention discloses a method and a device for deciding a designated time position of an unmanned ship cluster based on a game theory, which are characterized in that the problem of seeking an optimal countermeasure position of the unmanned ship cluster is converted into a non-cooperative game problem, a water surface unmanned ship cluster game model is constructed, and a distributed Nash equilibrium solving algorithm under the designated time is designed; the method can solve Nash equilibrium of the non-cooperative game problem in any appointed time, quickly solve the problem that the unmanned ship cluster seeks the optimal countermeasure position, strengthen attack and defense capacity of the unmanned ship on the my, and improve decision making efficiency.

Inventors

WEN GUANGHUI
JI QIUTONG
LUAN MENG

Assignees

东南大学

Dates

Publication Date: 20260512
Application Date: 20231031

Claims (5)

1. The unmanned ship cluster designated time position decision method based on the game theory is characterized by comprising the following steps of: step 1, establishing a countermeasures scene of unmanned ship clusters of both sides of a friend and foe, and randomly generating an initial position of the unmanned ship cluster; Step 2, modeling the problem of solving the optimal countermeasure position of the unmanned ship cluster to be a non-cooperative game problem based on the initial position, the communication distance and the maximum range and the safe range of weapons carried by the unmanned ship cluster, wherein the method specifically comprises the following steps: Step 21, establishing My Ability of unmanned boats to destroy enemy unmanned boats According to the initial position of unmanned ship, the maximum range of weapon carried by unmanned ship And safe range Definition of The method comprises the following steps: Wherein, the , , And The number of unmanned boats of my and enemy, respectively; is unmanned ship Is provided in the position of (a), Unmanned boat for enemy Is a position of (2); is unmanned ship Unmanned ship for destroying enemy In the specific form: Wherein, the Is unmanned ship Unmanned ship for harmonizing enemy Distance between, as a function of The smaller the value, i.e. the unmanned boat of my Unmanned boat for enemy The closer the distance between When, my first The stronger the ability of the unmanned boat to destroy enemy unmanned boats; Step 22, establishing My Ability of unmanned ship to defend enemy unmanned ship attack Improving the cluster cooperation capability and the defensive capability of the unmanned ship, The definition is as follows: Wherein, the , Is the first A location of an unmanned boat; And Respectively represent unmanned boats And unmanned ship Unmanned ship To ensure that each unmanned ship can at least keep effective communication with two unmanned ships, the unmanned ships cooperate to complete complex combat tasks, in particular cases At the time, set A kind of electronic device At the time, set Function of The smaller the value, i.e. the unmanned boat of my Respectively with other two unmanned boats And The closer the distance between them is to the optimal cooperative distance And When, my first The stronger the defensive power of the unmanned ship; Step 23, constructing My Target function of unmanned ship Based on the above-mentioned my first Ability of unmanned boats to destroy enemy unmanned boats And ability to defend enemy unmanned boats from attacks Objective function The establishment is as follows: Wherein, the , And Respectively attaching importance weights of the cluster of the unmanned boats on the knockdown capability and the defending capability; Step 3, designing a distributed Nash equilibrium solving algorithm under the convergence of a designated time based on a TBG function, a consistency protocol and a gradient method, and specifically comprising the following steps: Step 31, defining TBG function, a continuous micro time-varying function Called TBG function, the following conditions are satisfied: And it relates to time variable The derivative of (2) satisfies: Wherein, the Setting according to actual engineering requirements for any given convergence time without depending on any initial state; Step 32, unmanned boat Updating self policies ; Step 33, updating the unmanned boat For a pair of Decision estimation of (a) ; And 4, making a position decision of the unmanned ship cluster.
2. The method for deciding the designated time and position of unmanned ship cluster based on game theory as set forth in claim 1, wherein in step 1, the establishment of the fight scene of the unmanned ship cluster of both sides of the friend and foe is specifically to establish the fight area of the unmanned ship cluster of both sides of the friend and foe Assuming that a battle line exists in the sea area where both parties are located, both parties cannot enter the opponent battle field beyond the battle line; the cluster set of the unmanned boats on the my side is recorded as Unmanned ship Is the position of (2) Is that Its initial position is defined by The representation, wherein, Representing the number of clusters of my unmanned boats, Representing a cluster of my unmanned boats; Representing my first An abscissa value of the unmanned boat, Representing my first A vertical coordinate value of the unmanned ship; enemy unmanned ship cluster set is recorded as Definition of enemy unmanned boat Is the position of (2) Is that Its initial position is defined by The representation, wherein, The number of clusters of enemy unmanned boats is represented, Representing enemy unmanned boat clusters; Indicating enemy of things An abscissa value of the unmanned boat, Indicating enemy of things And (3) an ordinate value of the unmanned ship.
3. The method for determining the specified time and position of the unmanned ship cluster based on the game theory according to claim 1, wherein in step 32, to enhance the ability of knockdown and defending, each unmanned ship adjusts its own strategy according to the local information so as to minimize the objective function value, and the strategy based on the gradient method is updated as follows: Wherein the time-varying function As a function of TBG; Is the control gain; Is an unmanned boat An estimate of all unmanned boat decisions except itself.
4. The method for determining a specified time position of a cluster of unmanned vessels based on game theory according to claim 1, wherein in step 33, since each unmanned vessel can only obtain the decision information of its neighbors and cannot obtain the decision of the non-neighbor unmanned vessels, each unmanned vessel updates the decision estimation value of other unmanned vessels by the information interaction with the neighbors so that the estimation value converges to a true value, based on a consistency protocol, the estimation value The specific more modern method is as follows: Wherein, the Representing communication relationships between unmanned vessels, if unmanned vessels And unmanned boat Information interaction is performed Otherwise 。
5. A decision device of a specified time position decision method of an unmanned ship cluster based on a game theory is characterized by comprising a scene construction module, a model construction module and a position decision module, wherein the scene construction module is used for creating and simulating an environment of unmanned ship cluster countermeasure, setting up critical information of fight areas of two sides of a friend and foe, the number and initial positions of the unmanned ship cluster, the maximum range and the safety range of carrying weapons, and facilitating simulation and analysis of various fight situations, the model construction module is used for designing a subsequent specified time position decision algorithm, modeling an optimal countermeasure position problem for solving the unmanned ship cluster to be a non-cooperative game problem based on the initial position and the communication distance information of the unmanned ship cluster, and the position decision module is used for rapidly determining the optimal position of each unmanned ship in the unmanned ship cluster countermeasure so as to enhance the attack and defending capability of the unmanned ship and ensure real-time response of the change of a field situation.

Description

Unmanned ship cluster designated time position decision method and device based on game theory Technical Field The invention relates to the technical field of unmanned ship cluster game countermeasure, in particular to a method and a device for deciding a designated time position of an unmanned ship cluster based on game theory. Background Game theory is a theoretical approach to study phenomena with competing or competing properties. The game theory is applied to unmanned ship cluster antagonism, so that competition and decision evolution among warriors can be effectively described. In game theory, if each participant adopts the optimal strategy and any party alone changes the strategy of the participant, the strategy combination of all current participants is Nash equilibrium. Under nash equilibrium, policy combinations for each party form a steady state. In the unmanned ship cluster countermeasure game, the Nash equilibrium is analyzed to optimize position decisions, so that the attack force of the unmanned ships on the my can be enhanced, and the threat of the unmanned ships on the enemy can be reduced. In order to accelerate the convergence speed of the Nash equilibrium solution algorithm, many good results have been obtained for the Nash equilibrium solution algorithm under the convergence of finite time and fixed time. However, the convergence time of these solutions is affected by the initial state and system parameters and cannot be predicted in advance, limiting the practical applicability of the solution to some extent. In order to solve the above-mentioned problems, a specified time distributed game algorithm proposed in recent years is an effective means. Although there are some research results on Nash equilibrium solution under the convergence of a designated time, the application of the research results to the anti-game of unmanned ship clusters is relatively few, especially in the aspect of position decision of unmanned ship clusters. In the face of complex and changeable modern battlefield, instant and efficient collaborative decision-making and countermeasures are important factors for grasping a fighter plane and winning the initiative of the war. Therefore, the Nash equilibrium solving algorithm under the convergence of the appointed time is applied to the position decision of the unmanned ship cluster, and has both theoretical significance and strategic significance. Disclosure of Invention The invention aims to solve the technical problem of providing a method and a device for deciding the appointed time position of an unmanned ship cluster based on a game theory, which are used for quickly and effectively solving the problem that the unmanned ship cluster seeks the optimal countermeasure position by combining a TBG function, a consistency protocol and a gradient method to design a distributed non-cooperative game algorithm under the convergence of the appointed time, thereby improving the decision making efficiency. In order to solve the technical problems, the invention provides a method for deciding a designated time position of an unmanned ship cluster based on a game theory, which comprises the following steps: step 1, establishing a countermeasures scene of unmanned ship clusters of both sides of a friend and foe, and randomly generating an initial position of the unmanned ship cluster; step 2, modeling the problem of solving the optimal countermeasure position of the unmanned ship cluster to be a non-cooperative game problem based on the initial position, the communication distance and the maximum range and the safe range of weapons carried by the unmanned ship cluster; Step 3, designing a distributed Nash equilibrium solving algorithm under the convergence of a designated time based on a TBG function, a consistency protocol and a gradient method; and 4, making a position decision of the unmanned ship cluster. Preferably, in the step 1, the construction of the unmanned aerial vehicle cluster countermeasure scene of both sides of the friend and foe is specifically to construct an unmanned aerial vehicle cluster combat area Q of both sides of the friend and foe, assuming that a combat line exists in the sea area where both sides are located, both sides cannot enter the combat area of the opposite side beyond the combat line, and the unmanned aerial vehicle cluster set of the my is recorded asPosition of unmanned ship a iIs thatIts initial position is defined byA representation, wherein N A represents the number of unmanned aerial vehicle clusters, a represents the unmanned aerial vehicle clusters; An abscissa value representing my ith unmanned boat, A longitudinal coordinate value representing my ith unmanned boat; the enemy unmanned ship cluster set can be recorded asDefining the position of enemy unmanned boat b jIs thatIts initial position can be determined byThe method comprises the following steps of representing, wherein N B represents the number of enemy unmanned ship clus