System and method for multi-unmanned boat collaborative formation under complex sea condition

Abstract

The invention discloses a system and a method for a multi-unmanned boat collaborative formation under a complex sea condition. The system comprises a cooperative control center, a wireless transmission module, a single-boat sea condition monitoring module, a single-boat environment sensing module, a single-boat GPS / IMU module, a single-boat navigation obstacle avoidance module and a single-boat control module. The cooperative control center sends instructions to all unmanned boats according to collaborative formation task requirements and sea wave conditions at the positions of all unmanned boats. The information interaction between unmanned boats and the control center is realized through the wireless transmission module. The GPS / IMU module and the environment sensing module respectivelygive out the position attitude information and the obstacle information of each boat in real time. The navigation obstacle avoidance module and the control module are used for controlling the unmannedboats to safely and effectively complete collaborative formation tasks. The sea condition monitoring module calculates the actual sea wave level through information monitored by a navigation radar. The system is reliable and reasonable. Based on the system and the method, the requirements of the actual formation tasks of a multi-unmanned boat collaborative formation can be met on the premise thatthe safety requirement is met.

Description

technical field [0001] The invention relates to a system and a method for cooperative formation of multiple unmanned boats under complex sea conditions, and belongs to the technical fields of cooperative application technology of unmanned boats and cooperative formation of unmanned boats. Background technique [0002] The unmanned surface vehicle is a small surface task platform with autonomous operation capability. By carrying GPS, inertial navigation, radar and other sensing equipment, it can realize basic functions such as autonomous navigation, autonomous obstacle avoidance and autonomous tracking. In addition, mission objectives can be accomplished by carrying different sensing devices and using different module devices. At present, due to its outstanding performance and prospects in the military field, countries all over the world have shown strong interest in the research and development of military unmanned surface vehicles. At the same time, because unmanned surfac...

AI Technical Summary

Problems solved by technology

If you use the formation task planning with higher security applicable to higher wave levels, and the actual operation is in calm conditions, the unmanned boats in the formation will be too scattered due to being too conservative and cannot achieve a good formation effect.

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