UUV编队协同最优扩方应召搜索方法

针对螺旋应召搜索方法理论上可行但实际上无法实现的问题，提出了基于改进的粒子群优化（particle swarm optimization，PSO）算法的无人水下航行器（unmanned underwater vehicle，UUV）编队协同最优扩方应召搜索水下匀速直线运动目标的方法。首先，根据UUV的搜索宽度，建立了最优转向角模型，给出了采用改进的PSO算法的具体求解流程，并在此基础上继续探讨当目标速度未知情况下的搜索计划。然后，根据投放方式的不同，探讨了UUV编队的几种协同搜索方法。最后，通过仿真实验，证明了该方法的有效性，并根据仿真结果给出了对未来UUV 装备技术发展方向的建议。

Optimal extended position call-search method for UUVs’ formation

According to the problem that the spiral call search method is only feasible in theory, a novel optimal extended position search method based on improved particle swarm optimization (PSO) algorithm is proposed for the unmanned underwater vehicle (UUV) to search the uniform linear motion target. Firstly, based on the UUV’s search width the model of optimal steering angle is established, and it is optimized by the improved PSO algorithm, then on that basis, another search method with unknown velocity of target is also analyzed. Secondly, several cooperative search methods of formation of the UUV based on different projection are discussed. Finally, the feasibility of the proposed method is proved by the results of simulation, and some suggestions are proposed for future development directions of the UUV.