无人潜航器交战行为分层建模方法

A Hierarchical Modeling Method of UUV Combat Actions

摘要:

无人潜航器是水下智能化作战技术的重要突破口，然而目前其自主能力不足，无法支持水下无人自主作战。针对该问题，提出了一种基于有限状态机和行为树的无人潜航器交战行为分层建模方法，面向无人潜航器打击目标任务，设计行为模型框架与交战行为模型。该模型结合了有限状态机和行为树的优点，具有高解耦性、结构精简、易于修改与复用的特点，能够支撑无人航行器交战行为的定制化开发，并进一步根据任务剖面形成任务清单，支持无人航行器智能化作战。

Abstract:

Unmanned underwater vehicles（UUVs）are an important breakthrough in underwater intelligent combat technology. However，the autonomous capability is insufficient at present and cannot support underwater unmanned autonomous combat. To solve this problem，a hierarchical modeling method of UUV combat actions based on finite state machine and behavior tree is proposed. The behavior model framework and combat behavior model are designed for target attack tasks. The model takes the advantages of the finite state machine and the behavior tree to obtain uncoupled frame，reduced structure and good portability. It can support customized development of UUV combat actions，and generate a task list according to the task profile to support UUV intelligent combat.