Intelligent Control Method of Underactuated Unmanned Boat Formation Based on Virtual Boat Adaptive Planning

Abstract

The invention relates to an intelligent control method based on adaptive planning of a virtual ship for an under-drive unmanned ship formation. The method comprises the following steps of 1, setting aformation and initializing parameters; 2, collecting a position coordinate (xL, yL) and a heading angle psiL of a leader ship, conducting wave filtering, and transmitting the position coordinate andthe heading angle to a following ship; 3, according to the formation, the position coordinate and the heading angle information of the leader ship, obtaining a reference position (xr, yr) and a reference motion posture psir of the following ship in the formation in real time; 4, introducing the virtual ship and conducting real-time adaptive planning to obtain a reference track of the following ship; 5, using a combination strategy of RBF neural networks and a minimum parameter learning algorithm to train learning parameters online to generate intelligent formation control signals, wherein theintelligent formation control signals include the rotating speed nF of a mainframe of the following ship and a rudder angle command signal deltaF. Compared with the prior art, the method has the advantages that the method adapts to curved path tasks, overhead is avoided, leader ship speed information is not needed, and the method is simple, convenient and excellent in real-time performance.

Description

technical field [0001] The invention relates to the technical field of marine engineering unmanned boat control, in particular to an intelligent control method for underactuated unmanned boat formation based on virtual boat adaptive planning. Background technique [0002] In the development and utilization of the ocean, unmanned boats, as the most typical unmanned intelligent platform system at sea, have attracted great attention from the country. Unmanned boats have the advantages of shallow draft, fast speed, and strong maneuverability, and can be widely used in military and civilian tasks such as marine scientific research, marine development, marine environmental monitoring, and marine rights and interests maintenance. [0003] With the complexity of the environment and the diversification of tasks, a single unmanned boat not only needs to perform tasks within its own capabilities, but also needs to complete tasks jointly with other unmanned boats. The technology of unma...

AI Technical Summary

Problems solved by technology

However, these neural network-based intelligent formation control methods have the problem of dimensionality disaster in the process of engineering implementation, that is, with the increase of the number of hidden layer nodes of the neural network, more and more online learning parameters, resulting in online learning The time is too long, it is difficult to meet the real-time requirements of the project

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