A Method of Occupying Attack Position with Multiple UUVs Based on Information Consensus

Aiming at the tactical demand of coordinated attack to mobile target with multiple UUVs,an encounter model of single UUV(unmanned undersea vehicle) and mobile target is proposed in this paper.The best encounter point(means the best attacking position) can be calculated by the model,and then the initial encounter time of each UUV is come out based on the best encounter point.All the initial encounter times are led to consensus by Kalman information consensus theory,and each UUV redresses its move parameters based on the accordant encounter time in order to arrive at the attack position synchronously.All the research and the process are proved by simulation in the end.