Navigation speed and navigation direction cooperative control formation navigation control method based on leader-follower method
A control method and collaborative control technology, applied in two-dimensional position/course control, non-electric variable control, control/adjustment system, etc., can solve the problems of imperfect formation-keeping control methods and poor formation-keeping effects, etc. To achieve the effect of strong engineering operability and implementation
Active Publication Date: 2017-09-15
NANJING CHANGFENG AEROSPACE ELECTRONICS SCI & TECH
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[0007] In order to solve the deficiencies in the prior art, the object of the present invention is to provide a speed and heading cooperative control formation navigation control method based on the follow-the-navigator method, which solves the problem that the current formation maintenance control method is not perfect after the formation is formed, and the formation maintenance effect is very poor. bad question
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[0042] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
[0043] In order to realize the stable formation navigation control of ships, no matter which specific control method is adopted, it is necessary to adjust the speed and course of the ship, and finally realize the synchronous convergence control of multiple states such as position, speed and course. Only when the synchronous convergence control of position, speed and course is realized at the same time, can the control process of multi-vessel sailing from unready state to ready state and maintain the ready state be realized. The Leader-Follower method is taken as an example. In the formation formation process, when the follower reaches the desired formation position, the follower should have the ...
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The invention discloses a navigation speed and navigation direction cooperative control formation navigation control method based on a leader-follower method. Compared with a routine formation navigation control method, the navigation speed and navigation direction control method has advantages of realizing definite control task assignment and definite physical meaning, overcoming a problem of incapability of settling controlling of formation keeping according to an artificial potential field method, realizing high engineering operability and high applicability, and realizing no requirement for artificial intervention. The navigation speed and navigation direction cooperative control formation navigation control method can be widely used for settling a ship formation navigation control method in an unmanned environment and is particularly suitable for satisfying a requirement in ship formation navigation of occasions such as a water target field and a high-danger water area. Particularly, through adding acceleration and navigation direction control restraining in a formation forming process, the method is suitable for formation forming and formation keeping controlling in formation controlling. Furthermore the method is particularly suitable for satisfying the navigation requirement of the ship formation in occasions such as the water target field and high-danger water area.
Description
technical field [0001] The invention relates to a speed and course cooperative control formation navigation control method based on the follow-the-navigator method, and belongs to the technical field of ship automatic control. Background technique [0002] The problem of multi-agent formation cooperative control is a research hotspot in the field of robot and ship intelligent control. Formation control includes three aspects: formation method, formation formation control and formation maintenance control. The formation method solves the problem of which formations multi-agents sail synchronously. Formation control is the process of forming multiple ships into a prescribed overall formation from random starting positions. Formation keeping control is the control process of how to realize the formation is no longer chaotic after the formation of the overall formation. [0003] At present, the formation navigation control is still in the theoretical research stage, and the r...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 于瑞亭冯志强郑宗贵
Owner NANJING CHANGFENG AEROSPACE ELECTRONICS SCI & TECH
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