第17卷第2期 智能系统学报 Vol.17 No.2 2022年3月 CAAI Transactions on Intelligent Systems Mar.2022 D0:10.11992/tis.202012037 网络出版地址：https:/ns.cnki.net/kcms/detail/23.1538.TP.20211014.1330.002.html 非对称博弈下多UUV基地防卫协同对抗策略 王宏健，于丹，徐欣2，张宏翰，陈涛 (1.哈尔滨工程大学智能科学与工程学院，黑龙江哈尔滨150001,2.浙江大华技术股份有限公司，浙江杭州 310053) 摘要：针对非对称博弈下的水下无人对抗问题，开展对基于基地防卫的多无人水下潜航器(unmanned under-. water vehicles,.UUVs)协同对抗策略研究。在双方能力和数量有差异的非对称博弈情况下，设计UUV基本行 为，分别基于红、蓝方能力设计对抗策略选择方法；本文提出红方多UUV分层决策算法，并设计红方多 UUV角色分配方法：在防卫任务中基于目标偏航角设计两种红方多UUV联合防卫方法：并相应给出设计蓝方 UUV策略及决策方法。最后设计水下对抗仿真实验，从对抗过程的事件决策、UUV机动控制等方面验证了本 文设计的对抗方法对水下非对称条件下的多UUV对抗问题具有有效性。 关键词：非对称博弈；基地防卫；无人水下潜航器：攻防对抗；多UUV协同；分层决策：角色分配：策略 中图分类号：TP391文献标志码：A文章编号：1673-4785(2022)02-0348-12 中文引用格式：王宏健，于丹，徐欣，等.非对称博弈下多UUV基地防卫协同对抗策略J.智能系统学报，2022,17(2)： 348-359. 英文引用格式：WANG Hongjian,YU Dan,,XU Xin,etal.MIulti-UUV base defense cooperative countermeasure under the asymmet- ric game condition J].CAAI transactions on intelligent systems,2022,17(2):348-359. Multi-UUV base defense cooperative countermeasure under the asymmetric game condition WANG Hongjian',YU Dan',XU Xin',ZHANG Honghan',CHEN Tao' (1.Department of Intelligent Science and Engineering,Harbin Engineering University,Harbin 150001,China;2.Zhejiang Dahua Technology Co.,Ltd.,Hangzhou 310053,China) Abstract:Aiming at the problem of unmanned underwater warfare under the asymmetric game condition,in this paper, we examine the cooperative countermeasure of multiple unmanned underwater vehicles (UUVs)based on base defense. In an asymmetric game with differences in ability and quantity between the red and blue sides,the basic behaviors of UUVs and the selection methods of the countermeasures of both sides are designed.This paper proposes a hierarchical decision-making algorithm for the red side and designs a role assignment method of its UUVs.In a defense task,two kinds of red-side multi-UUV joint defense methods are designed based on the target yaw angle;the strategy and the de- cision-making method of UUVs of the blue side are given correspondingly.Finally,the simulation experiment of under- water confrontation is designed,and the effectiveness of the proposed method with respect to multi-UUV confrontation under an underwater asymmetric game condition is verified from the aspects of event decision-making and UUV man- euver control in a confrontation. Keywords:asymmetric game;base defense;unmanned underwater vehicle;attack-defense confrontation; multi-UUV coordination;hierarchical decision-making;role assignment;strategy 无人水下航行器(unmanned underwater vehicles,UUV)是小体量、强自主性、高隐蔽性的 水下机器人之一。现阶段正在研究的UUV网可集 收稿日期：2020-12-22.网络出版日期：2021-10-15. 基金项目：国家自然科学基金重点项目(61633008). 成具有打击能力的任务载荷，不仅能够执行探测 通信作者：王宏健.E-mail:cctime99@l63.com 任务，还可以执行攻击任务。在探测信息共享DOI: 10.11992/tis.202012037 网络出版地址: https://kns.cnki.net/kcms/detail/23.1538.TP.20211014.1330.002.html 非对称博弈下多 UUV 基地防卫协同对抗策略 王宏健1 ，于丹1 ，徐欣2 ，张宏翰1 ，陈涛1 （1. 哈尔滨工程大学 智能科学与工程学院，黑龙江 哈尔滨 150001; 2. 浙江大华技术股份有限公司，浙江 杭州 310053） 摘 要：针对非对称博弈下的水下无人对抗问题，开展对基于基地防卫的多无人水下潜航器 (unmanned under￾water vehicles, UUVs) 协同对抗策略研究。在双方能力和数量有差异的非对称博弈情况下，设计 UUV 基本行 为，分别基于红、蓝方能力设计对抗策略选择方法；本文提出红方多 UUV 分层决策算法，并设计红方多 UUV 角色分配方法；在防卫任务中基于目标偏航角设计两种红方多 UUV 联合防卫方法；并相应给出设计蓝方 UUV 策略及决策方法。最后设计水下对抗仿真实验，从对抗过程的事件决策、UUV 机动控制等方面验证了本 文设计的对抗方法对水下非对称条件下的多 UUV 对抗问题具有有效性。 关键词：非对称博弈；基地防卫；无人水下潜航器；攻防对抗；多 UUV 协同；分层决策；角色分配；策略 中图分类号：TP391 文献标志码：A 文章编号：1673−4785(2022)02−0348−12 中文引用格式：王宏健, 于丹, 徐欣, 等. 非对称博弈下多 UUV 基地防卫协同对抗策略 [J]. 智能系统学报, 2022, 17(2): 348–359. 英文引用格式：WANG Hongjian, YU Dan, XU Xin, et al. Multi-UUV base defense cooperative countermeasure under the asymmet￾ric game condition[J]. CAAI transactions on intelligent systems, 2022, 17(2): 348–359. Multi-UUV base defense cooperative countermeasure under the asymmetric game condition WANG Hongjian1 ，YU Dan1 ，XU Xin2 ，ZHANG Honghan1 ，CHEN Tao1 (1. Department of Intelligent Science and Engineering, Harbin Engineering University, Harbin 150001, China; 2. Zhejiang Dahua Technology Co., Ltd., Hangzhou 310053, China) Abstract: Aiming at the problem of unmanned underwater warfare under the asymmetric game condition, in this paper, we examine the cooperative countermeasure of multiple unmanned underwater vehicles (UUVs) based on base defense. In an asymmetric game with differences in ability and quantity between the red and blue sides, the basic behaviors of UUVs and the selection methods of the countermeasures of both sides are designed. This paper proposes a hierarchical decision-making algorithm for the red side and designs a role assignment method of its UUVs. In a defense task, two kinds of red-side multi-UUV joint defense methods are designed based on the target yaw angle; the strategy and the de￾cision-making method of UUVs of the blue side are given correspondingly. Finally, the simulation experiment of under￾water confrontation is designed, and the effectiveness of the proposed method with respect to multi-UUV confrontation under an underwater asymmetric game condition is verified from the aspects of event decision-making and UUV man￾euver control in a confrontation. Keywords: asymmetric game; base defense; unmanned underwater vehicle; attack–defense confrontation; multi-UUV coordination; hierarchical decision-making; role assignment; strategy 无人水下航行器[ 1 ] （unmanned underwater vehicles, UUV）是小体量、强自主性、高隐蔽性的 水下机器人之一。现阶段正在研究的 UUV[2] 可集 成具有打击能力的任务载荷，不仅能够执行探测 任务，还可以执行攻击任务。在探测信息共享[3-5] 收稿日期：2020−12−22. 网络出版日期：2021−10−15. 基金项目：国家自然科学基金重点项目（61633008）. 通信作者：王宏健. E-mail：cctime99@163.com. 第 17 卷第 2 期 智 能 系 统 学 报 Vol.17 No.2 2022 年 3 月 CAAI Transactions on Intelligent Systems Mar. 2022