Working depth optimization of underwater robot sonar using game theory
Lei Wang, YuQi Ye · 2023
In traditional underwater robot anti-submarine research, it is difficult to accurately estimate the detection performance of the underwater robot because the avoidance behavior of the underwater target is not considered, which makes it difficult to plan and optimize the working depth and other parameters of the underwater robot in advance. In this paper, the game theory framework, which is widely used in the study of economic, social, political and biological phenomena, is introduced into the research of depth optimization of anti-submarine work of underwater vehicles. The framework considers the hydrologic environment, moving path and acoustic characteristics of underwater target, introduces the concept of game between underwater robot and underwater target, and transforms the detection problem into a game problem. The game problem of maximizing one side and minimizing the other side is a two-person zero-sum game, and there is a mixed strategy Nash equilibrium solution in the game between the underwater robot and the underwater target. The validity of this analysis method is verified by a concrete case.