基于空−海−潜跨域无人平台协同的海上目标探测追踪策略OA

This paper proposes a maritime target detection and tracking strategy based on the collaboration of air-sea-submarine cross-domain unmanned platform.Firstly,a maritime cross-domain unmanned system that integ-rates unmanned aerial vehicle(UAV),unmanned surface vessel(USV),and autonomous underwater vehicle(AUV)is constructed.Then,the optimal detection formation of UAV-USV-AUV is analyzed using measure theory to max-imize target detection probability,accounting for the high maneuverability of maritime targets and the constraints of unmanned platform;After the target is detected,an inverse reinforcement learning-based controller is designed for the formation of UAV-USV-AUV to achieve reliable and effective tracking of surface/underwater targets in obstacle-prone environments.Finally,simulations and experiments are conducted to validate the effectiveness of the proposed method.The results show that the proposed detection mode can maximize the probability of detecting mo-bile targets within a finite time,and the proposed inverse reinforcement learning formation controller can achieve secure and collaborative tracking of cross-domain unmanned platform in complex environments by combining dy-namic obstacle avoidance strategies while maintaining formation stability.