Research on the Planning Method of unmanned underwater vehicle Cluster Encirclement under Weak Connectivity Conditions

In underwater environments, due to the limitation of exploration distance, UUV (unmanned underwater vehicle) clusters face challenges in coordination and efficiency when performing capture tasks. In order to effectively capture dynamic targets, this paper proposes a capture strategy for UUV clusters, aiming to achieve effective monitoring and capture of dynamic targets. Firstly, establish a mathematical model for dynamic target UUV cluster capture decision-making and the collaborative action mechanism of UUV clusters during the capture process. Ensure efficient collaboration of UUV clusters in capturing dynamic targets and improve the success rate of capture. Secondly, a target motion trajectory prediction method based on timestamps and dynamic models is proposed, which aims to reduce the adverse effects of communication delays. By predicting the target’s motion trajectory, more accurate target position information is provided for UUV clusters, thereby optimizing the capture strategy. In addition, this article designs a target tracking method based on angle measurement information. After the calculation is completed, the artificial potential field method is used to plan the trajectory of the UUV, in order to achieve effective encirclement of the target.