Cooperative strategy based on a two-layer game model for inferior USVs to intercept a superior USV

Abstract

Aiming at the problem of inferior USVs intercepting a superior USV, a cooperative interception strategy based on the two-layer game model is studied. Through the mathematical description of the USV's reachable set, the feasible interception point position is obtained. Two necessary conditions for completing regional defensive tasks under nonlinear motion conditions are proposed. By introducing the idea of a hierarchical task network, the complex regional defensive task is divided into different sub-tasks corresponding to the above necessary conditions. In order to better complete the switching between different sub-tasks, a two-layer game model is established. The selection of sub-tasks is modeled as an upper game, and the selection of basic maneuvers is modeled as a lower game. The Monte Carlo simulation results show that the cooperative interception strategy proposed in this paper has better performance under different conditions.