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Based on the multi-round confrontation of multiple Autonomous Underwater Vehicles (AUVS), the concept of Nash equilibrium is used to solve the problem of underwater dynamic cooperative confrontation of multiple AUVs. From the perspective of confrontation strategies of both sides of an AUV and considering the influence of survival probability index function and the uncertain factors of underwater environment, the unit target allocation model of multiple AUVs based on dynamic game and game matrixdoi:10.1051/jnwpu/20193710063 fatcat:gunctwqzcvf6fca2b6fwydcv3u