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In order to solve Autonomous Underwater Vehicle (AUV) cluster confrontation problem, a method of optimizing signal design is proposed. Combining with the frequency hopping transmission mode, the method can transmit a set of signals composed of comb-shaped spectrum signals with different Doppler tolerance and frequency band to obtain the relative optimal distance and velocity measurement results. Then, based on the background of AUV cluster combat, a dynamic confrontation decision model is established. Based on the uncertain influence factor, an uncertain expectation confrontation decision model and an uncertain chance constrained confrontation decision model are established under the uncertain environment and the equilibrium point of the countermeasure strategy is obtained. Through the simulation analysis, it is confirmed that the uncertain battlefield environment has an inevitable impact on the combat confrontation decision. The game model established in this paper can provide powerful decision support for the battle command.

Confrontation Decision of AUV Cluster Based on Sonar Signal under Uncertainty