Collaborative Defense with Multiple USVs and UAVs Based on Swarm Intelligence

Modern defense systems are developing towards systematization, intellectualization and automation, which include the collaborative defense system on the sea between multiple unmanned surface vehicles (USVs) and unmanned aerial vehicles (UAVs). UAVs can fly in high altitude and collect marine environment information on patrolling. Furthermore, UAVs can plan defense paths for USVs to intercept intruders with full-assignment or reassignment strategies aiming at maximum overall benefits. Thus, we propose dynamic overlay reconnaissance algorithm based on genetic idea (GI-DORA) to solve the problem of multi-UAV multi-station reconnaissance. Moreover, we develop continuous particle swarm optimization based on obstacle dimension (OD-CPSO) to optimize defense path of USVs to intercept intruders. In addition, under the designed defense constraints, we propose dispersed particle swarm optimization based on mutation and crossover (MC-DPSO) and real-time batch assignment algorithm (RTBA) in emergency for formulating combat defense mission assignment strategy in different scenarios. Finally, we illustrate the feasibility and effectiveness of the proposed methods.