Autonomous cooperation method of flexible connected double unmanned boats for oil spill roundup

Abstract

The invention discloses a flexibly connected double unmanned ship autonomous collaboration method for rounding up oil spillage. The method comprises the steps of (1) planning a sailing trajectory capable of meeting multiple constraint conditions according to the oil spillage position, the initial positions of unmanned ships and dynamic characteristics of the flexibly connected unmanned ships; (2) performing trajectory tracking on the acquired sailing trajectory; (3) correcting the expected heading and speed of each unmanned ship in real time according to influences of a flexible connection acting force and force moment by adopting a fuzzy null space based behavior fusion method in order to ensure the unmanned ships to fulfill the task and reduce adverse influences of the flexible connection acting force and force moment in the process of performing trajectory tracking; and (4) calculating a control instruction by a motion controller of the unmanned ships so as to drive the actual heading and speed of the unmanned ships to reach the expected values. According to the invention, adverse influences generated by the flexible connection acting force and force moment are effectively eliminated by using the fuzzy null space method, and autonomous collaboration control for the flexibly connected double unmanned ship is realized.

Description

technical field [0001] The invention relates to an autonomous coordination method for flexible connection double unmanned boats facing oil spill roundup, and belongs to the field of cooperative control of unmanned aerial vehicles. Background technique [0002] In recent years, oil spill accidents during oil receiving and unloading operations in coastal areas have been on the rise, causing catastrophic impacts on the environment and significant economic losses. Oil spills floating on the sea for a long time will greatly threaten the safety of marine ecology. The International Tanker Pollution Control Alliance usually uses two manned ships to carry the oil boom to clean up the oil spill. However, this traditional oil spill recovery operation method is difficult to manually operate, takes a long time to prepare, and is poor in economy. It is harmful to the human body, so it is considered to use unmanned boats to perform oil spill recovery work. [0003] Patent No.: 2013106951...

AI Technical Summary

Problems solved by technology

[0007] The present invention aims at the low recovery efficiency of oil spilled by a single oil recovery boat, and under the action of the force and moment of flexible connections such as oil containment booms on double unmanned boats, sometimes the lateral distance between the two unmanned boats will continue to increase, resulting in overflow The problem of oil capture failure, providing a method for autonomous cooperation of flexible connected dual unmanned boats for oil spill capture

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