Control method and system for collaborative interception by multiple unmanned surface vessels

A control system for collaborative interception by a plurality of unmanned surface vessels, comprising:

• a processor, and
• a memory having program instructions stored,
• wherein when the processor executes the program instructions stored on the memory, the processor is configured to:
• obtain task environment information of each unmanned surface vessel in an unmanned surface vessel group at a current moment;
• wherein the task environment information comprises position information of the unmanned surface vessel, velocity information of the unmanned surface vessel, relative position information between the unmanned surface vessel and an intruding target, and relative velocity information between the unmanned surface vessel and the intruding target;
• each unmanned surface vessel corresponds to an intruding target interception policy output model;
• and the intruding target interception policy output model is obtained by training a multi-agent deep deterministic policy gradient network structure based on a training sample;
• estimate interception point information of the intruding target at the current moment by using a Kalman filter according to the task environment information of all unmanned surface vessels at the current moment;
• wherein the interception point information comprises a predicted position of the intruding target and a predicted velocity of the intruding target;
• determine process state information of each unmanned surface vessel at the current moment;
• wherein the process state information comprises the position information of the unmanned surface vessel, the velocity information of the unmanned surface vessel and the interception point information of the intruding target;
• and
• input the process state information of each unmanned surface vessel at the current moment into a corresponding intruding target interception policy output model respectively to obtain an execution action of each unmanned surface vessel at a next moment, and send the execution action to an execution structure of a corresponding unmanned surface vessel to intercept the intruding target.