A Formation Transformation Method for Unmanned Boats from One-Shaped Formation to Inverted-V-shaped Formation

Abstract

The invention discloses a method for changing a formation of unmanned ships from a linear formation to an inverted V-shaped formation. The method comprises the following steps: numbering the unmanned ships in the linear formation on water surface in sequence from small to large, and selecting one unmanned ship as a leading unmanned ship; calculating and acquiring the actual velocity directions of all the unmanned ships in the next time interval; calculating and acquiring the velocity values of all the unmanned ships in the next time interval; calculating and acquiring initial positions of all the unmanned ships in the next time interval; judging whether the formation is completely changed, if formation changing is completed, finishing; and if the formation changing is not completed, returning the step S2, wherein the movement of the leading unmanned ship is determined by a preset movement equation of the leading unmanned ship, and by virtue of the changing method, the change of the formation of the unmanned ships from the linear formation to the inverted V-shaped formation can be realized. According to the method disclosed by the invention, the collision of the unmanned ships can be prevented in the changing process; the number of the unmanned ships in the formation is not limited, the anti-jamming capability is strong, and the self adaptability is strong.

Description

technical field [0001] The invention relates to the technical field of unmanned boat formations, in particular to a method for transforming unmanned boat formations from a straight formation to an inverted V formation. Background technique [0002] An unmanned ship is an unmanned surface ship equipped with sensors or equipment modules to complete some tasks in sea areas. The sensors and equipment that can be carried by a single unmanned boat are limited, so it can only complete some simple tasks. When faced with diverse and complex tasks, multiple unmanned boats are required to cooperate to complete the task together. The cooperative operation of multiple unmanned boats not only overcomes the functional defects of a single unmanned boat, but also produces the effect that 1 plus 1 is greater than 2. To a large extent, the operating efficiency and operating range are improved. Therefore, it is an inevitable trend to cooperate with multiple unmanned boats, and it has a good ...

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Problems solved by technology

[0004] Chinese invention patent CN103674029A discloses a multi-boat cooperative navigation formation configuration method based on underwater acoustic communication. This method aims to solve the environmental factors in the actual operation of the multi-boat formation, which will affect the navigation speed, distance and course constraints. The selection of factors affects the formation structure design of the boat, and the formation-related method does not involve formation transformation

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