自动化学报2026，Vol.52Issue(4)：846-864,19.DOI:10.16383/j.aas.c250669
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
Interception Mission Planning of USV Swarms for Normally Distributed Targets:Deployment Design,Scheme Implementation and Probability Calculation
摘要
Abstract
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.关键词
正态分布目标/USV集群/目标拦截/集群布阵/USV控制Key words
normally distributed targets/USV swarms/target interception/swarm deployment/USV control引用本文复制引用
王晓玲,徐英杰,徐伟辰,刘浏,苏厚胜..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[J].自动化学报,2026,52(4):846-864,19.基金项目
国家自然科学基金(62522313,62425602,62473207,U25B2078,62561160100)资助 Supported by National Natural Science Foundation of China(62522313,62425602,62473207,U25B2078,62561160100) （62522313,62425602,62473207,U25B2078,62561160100）
