Formation Feature Analysis with Heterogeneous Unmanned Vehicles for Ocean Monitoring Based on Complex Network

Abstract

Complex network is a new type of analysis method in recent years, which has been widely applied in various fields. As a heterogeneous network, the joint formation of three specific types of UAV, UGV and USV has a certain mapping relationship with the characteristic parameters of the complex network. In this paper, for the complexity and networked structure characteristics of different types of unmanned vehicle formations, we propose a joint formation model of unmanned vehicles based on complex network by analyzing the dynamics of individuals in the formation system and extracting the important factors of network construction in the formation system. On this basis, we conducted a simulation experiment of joint formation ocean monitoring, constructed a formation that is conducive to ocean monitoring and realized formation transformation, analyzing and verifying the performance of the joint formation network in three aspects: average path length, clustering coefficient and degree distribution. We expect to provide theoretical guidance and foundation for practical applications such as sea resource exploration and ocean monitoring.