Distributed unmanned ship cluster division and formation control method

A technology of distributed control and unmanned boats, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as feasibility and optimization research, and achieve optimal task indicators , the effect of improving safety
CN106774331AInactive Publication Date: 2017-05-31GUANGDONG HUST IND TECH RES INST +2
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
GUANGDONG HUST IND TECH RES INST
Publication Date
2017-05-31
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a distributed unmanned ship cluster division and formation control method, which comprises the following steps: S1, performing environmental perception on a target region by adopting a method of combining a Bayesian network and a body in an information fusion technology; S2, determining the number of required unmanned ships according to the characteristic of a task and a navigation environment, dividing unnamed clusters, and determining feasible formation patterns; S3, selecting an optimal task formation pattern or a secondary optimal task formation pattern from the feasible formation patterns according to an optimization index and a performance index of the task; S4, performing simulation and testing: performing modeling simulation according to the selected task formation pattern and the navigation environment, and testing the robustness and the fault tolerance of the task formation pattern, then ending. According to the method, a collaborative formation pattern of the unmanned ship clusters can be efficiently and flexibly changed, and the method has the advantages of safety, stability and reliability.
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Claims

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