Target tracking cooperative control system and method based on multiple unmanned surface vehicles

A technology of cooperative control and target tracking, applied in control/adjustment system, two-dimensional position/course control, non-electric variable control, etc., can solve the problem of the gap between theory and practice, to improve tracking ability and reduce calculation The effect of quantity, high reliability and stability

Inactive Publication Date: 2018-11-23
SHANGHAI UNIV
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Cooperative target tracking is one of the effective methods to realize the cooperative control of multiple unmanned vehicles. Researchers have achieved a lot of research results on the problem of cooperative tracking and control of multiple unmanned vehicles, but there is still a gap between theory and practice.

Method used

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  • Target tracking cooperative control system and method based on multiple unmanned surface vehicles
  • Target tracking cooperative control system and method based on multiple unmanned surface vehicles
  • Target tracking cooperative control system and method based on multiple unmanned surface vehicles

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] like figure 1As shown: This target tracking cooperative control system based on multiple unmanned boats is composed of a shore-based global positioning host (1) connected to a single unmanned boat control system (3) through a wireless communication module (2). The shore-based global positioning The host computer (1) is used as the upper computer to process the data collected by the sensor system mounted on each unmanned boat, and obtain the target and the pose information of each unmanned boat; the wireless communication module (2) is mainly responsible for the The perception information is uploaded to the shore-based global positioning host (1), and at the same time, the pose information can be transmitted to the bottom of each unmanned boat;

[0053] The single unmanned boat control system (3) includes a controller module (3-1), a sensor module (3-2) and a motion module (3-3), and the controller module (3-1) controls the unmanned boat The decision-making center of th...

Embodiment 2

[0055] like figure 2 As shown, this target tracking cooperative control method based on multi-unmanned vehicles uses the above-mentioned system to operate, and the operation steps are as follows:

[0056] Step 1: If image 3 , in the formation formation process, for the target matching problem between multiple unmanned vehicles and multiple targets, the auction-based allocation algorithm is used to construct a multi-stage task allocation bidding subsystem, and the allocation scheme that maximizes the benefits of the unmanned vehicle group is found:

[0057] 1.1 Preprocess the unmanned vehicles and targets in the area: delineate the unmanned vehicles and target tasks that meet the threshold conditions as a bidding sub-area;

[0058] 1.2 Multiple rounds of bidding for each bidding sub-area:

[0059] (1.2-1) Initialize n=1. Let M be the size of the unmanned boat set, and N be the set size of the target task;

[0060] (1.2-2) let i=n;

[0061] (1.2-3) For the target task c, ...

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Abstract

The present invention relates to a target tracking cooperative control system and method based on multiple unmanned surface vehicles. The system is formed by connecting a shore-based global location host and a single unmanned surface vehicle control system through a wireless communication module. The method comprises the operation steps of: 1) a formation generation process: employing an auction algorithm to find a multi-target distribution scheme of the multiple unmanned surface vehicles with the maximum income of an unmanned surface vehicle group; 2) motion of the unmanned surface vehicles to perform geometric path planning from any initial state to a target point; and 3) prediction of a target motion track through adoption of a prediction model based on a particle swarm to replace communication abnormal data and perform formation track tracking. The method reduces the calculation amount of the multiple auction processes, achieves the real-time demands of task distribution of the unmanned surface vehicles, employs the path planning method based on the geometric method and the track tracking method based on the neural network to meet the timeliness and the accuracy requirements ofsingle-vehicle track tracking control, employs the motion track predicted by employing the particle swarm optimization to perform compensation, improves the tracking capacity of the unmanned surfacevehicles in the limitation of the communication condition and allows the formation tracking to have high reliability and stability.

Description

technical field [0001] The invention relates to multi-unmanned boat cooperative control technology, in particular to a multi-unmanned boat-based target tracking cooperative control system and method, belonging to the field of single unmanned boat target tracking and the field of multi-unmanned boat multi-target distribution cooperative control. Background technique [0002] As a miniaturized, intelligent and unmanned surface carrier platform that can navigate by remote control or autonomously, the unmanned vehicle can use different modules and equipment to complete the mission goals for specific mission types. Due to the increasingly complex marine environment, increasingly diverse operating tasks, and limited individual operating capabilities, the collaborative team has an overall performance that is superior to the sum of the individual performances of individual unmanned vehicles. This potential and considerable synergistic effect has become a research topic. The main pow...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 周睿刘亮李小毛彭艳罗均
Owner SHANGHAI UNIV
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