Abstract
Based on the multi-round confrontation of multiple Autonomous Underwater Vehicles (AUVS), the concept of Nash equilibrium is used to solve the problem of underwater dynamic cooperative confrontation of multiple AUVs. From the perspective of confrontation strategies of both sides of an AUV and considering the influence of survival probability index function and the uncertain factors of underwater environment, the unit target allocation model of multiple AUVs based on dynamic game and game matrix are established. By solving the Nash equilibrium solution of the game model, the particle swarm optimization algorithm is applied to solve the Nash equilibrium point for obtaining the optimal attack and defense strategies of both sides. The feasibility and effectiveness of the method was verified by simulation.
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