Abstract
In this paper, a multi-unmanned underwater vehicle (UUV) cooperative dynamic maneuver decision-making algorithm is proposed based on the combination of game theory and intuitionistic fuzzy sets. Underwater environments with weak connectivity, underwater noise, and dynamic uncertainties are fully considered through intuitionistic fuzzy sets, which solves one of the main problems in making decisions underwater. Subsequently, the intuitionistic fuzzy multiattribute evaluation of a UUV maneuver strategy is conducted, and the intuitionistic fuzzy payment matrix of the cooperative dynamic maneuver game is obtained. Thereafter, the Nash equilibrium condition is proposed to satisfy the intuitionistic fuzzy total order, and the Nash equilibrium maneuver decision-making model under a dynamic underwater environment is established. Meanwhile, the modified particle swarm optimization method is presented to solve the established problem and find the optimal strategy. Finally, an example is used to verify the superiority of the proposed cooperative dynamic maneuver decision-making algorithm.
Highlights
Unmanned underwater vehicles (UUVs) are characterized by their small size, superior maneuverability, low cost, preferable stealth, etc. ey can operate independently or under a manned operation. e multi-unmanned underwater vehicle (UUV) control algorithm has gained increased attention, which involves a multi-UUV cooperative formation control, cooperative navigation, cooperative confrontation, etc. [1,2,3,4,5]
Maneuver decision-making is key to multi-UUV cooperative confrontation because it acts as the basic action in each confrontation step [7]
Current studies on maneuver decision-making mainly focus on unmanned aerial vehicles (UAVs) and land unmanned system (LUS) clusters, among others [8]. ere are many studies on single-agent control technology but only a few on multiagent decision-making technologies. ere are various studies on unilateral strategy optimization but few on bilateral game theory
Summary
Unmanned underwater vehicles (UUVs) are characterized by their small size, superior maneuverability, low cost, preferable stealth, etc. ey can operate independently or under a manned operation. e multi-UUV control algorithm has gained increased attention, which involves a multi-UUV cooperative formation control, cooperative navigation, cooperative confrontation, etc. [1,2,3,4,5]. Erefore, a more scientific and accurate real-time confrontation strategy can be formulated by introducing cooperative game theory into the maneuvering and decision-making of unmanned system clusters [9]. For underwater confrontation, Muhammed et al proposed different kinds of game theories for cooperation among acoustic sensor nodes and compared their performances under different conditions [17] These existing studies concentrated on the unmanned aerial and land systems cluster, which have not fully considered the impact of underwater environmental characteristics. Weak interconnection, including weak connectivity, underwater noise, dynamic uncertainties, leads to the uncertainty payments of the maneuver decision-making process of UUVs. Classical game theory only discusses the game with clear payments [18]. Erefore, in this study, a cooperative dynamic maneuver decisionmaking algorithm is proposed based on intuitionistic fuzzy game theory.
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