USV集群对正态分布目标的拦截任务筹划:布阵设计、方案实现与概率计算OA

The spatiotemporal information uncertainty associated with emerging mobile targets presents a signific-ant challenge for interception by unmanned surface vessel(USV)swarms.This paper addresses the problem of in-tercepting a surface mobile target whose emerging location follows a normal distribution and emergence time fol-lows a uniform distribution.During the deployment design phase,a novel"non-uniform"deployment design scheme of the USV swarms is first introduced,generating an optimized interception line that matches the normal distribu-tion characteristic of the target's location.The scheme then integrates prescribed-time control and leader-following consensus laws to manage the entire interception cycle:Swarm deployment into formation,constant-speed tracking,and coordinated withdrawal.Finally,leveraging the properties of the normal distribution probability density func-tion,an analytical expression for the interception probability under the proposed scheme is derived.Simulation studies demonstrate that the proposed scheme effectively counters the spatiotemporal uncertainty of target emer-gence and markedly enhances interception performance.