Unlock instant, AI-driven research and patent intelligence for your innovation.

A multi-auv dynamic arc formation control method

A control method, arc technology, applied in the direction of non-electric variable control, control/regulation system, height or depth control, etc., can solve problems such as insufficient ability and inability to perform large-scale

Active Publication Date: 2020-11-10
HARBIN ENG UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

With the development of AUV, a single AUV has insufficient control and communication capabilities, and cannot perform tasks in a large-scale and complex environment, so many scholars have begun to study multiple AUVs to solve these problems.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A multi-auv dynamic arc formation control method
  • A multi-auv dynamic arc formation control method
  • A multi-auv dynamic arc formation control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0093] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0094] combine figure 1 to Figure 4d , the steps of the present invention are as follows:

[0095] Step 1: According to the mission task, realize the path planning of multiple AUVs, and obtain the arc path that the leader and follower need to track.

[0096] Step 2: Establish a reference coordinate system

[0097] Establish a fixed reference coordinate system and a motion coordinate system for expressing AUV movement, and take the center of the arc path obtained in step 1 as the origin of the fixed reference coordinate system, denoted as O; arbitrarily select a straight line where a diameter of the arc is located as the coordinate axis The vertical axis of the axis is recorded as the X axis; the straight line perpendicular to the diameter and passing through the center of the arc is the horizontal axis of the coordinate axis, which ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a multi-AUV dynamic circular arc formation control method, relates to a multi-AUV (Autonomous Underwater Vehicles) dynamic circular arc formation control strategy under the known path, and belongs to the technical field of ship control. The novel multi-AUV circular arc formation control strategy is put forward, the attitude relationship of the leader and the followers is divided into the relationship of the distance and the angle relative to the origin of the coordinate axis, an attitude angle, heading angle and speed error model is constructed, and each AUV of the formation is controlled to realize circular arc formation movement through the PID controller. The followers receive and only require to receive the attitude information of the leader in real time so thatthe adverse phenomenon of delay and loss in case of multi-information communication can be reduced for the AUV, the stability and the reliability of formation control can be enhanced.

Description

technical field [0001] The invention relates to a multi-AUV dynamic arc formation control method under a known path, in particular to a multi-AUV dynamic arc formation control method, which belongs to the field of ship motion control. Background technique [0002] With the depletion of energy sources, the development of the ocean is becoming more and more urgent, so all countries have begun to study underwater vehicles to replace people to detect seabed resources, and at the same time, underwater vehicles are also playing an increasingly important role in the military. So how to develop and utilize Autonomous Underwater Vehicles (AUV) has become a research hotspot in various countries. With the development of AUV, a single AUV has insufficient control and communication capabilities, and cannot perform tasks in a large range and complex environment, so many scholars have begun to study multiple AUVs to solve these problems. [0003] The formation control of multiple AUV form...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 李娟袁锐锟张建新陈兴华陈涛杜雪
Owner HARBIN ENG UNIV
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com