Distributed target cooperative assignment method for unmanned ship formation reconfiguration

Abstract

The present invention provides a distributed target collaborative allocation method for unmanned ship formation reconfiguration, including: S1, establishing a target allocation model in unmanned ship formation reconfiguration; S2, unmanned ship u i According to the calculation method of the cost function, the cost vector c is obtained i ; S3, unmanned ship u i According to the cost vector c i Bid with the bidding rules to independently decide to select the target point, and get their own set of price vectors P oldi ; S4, unmanned ship u i The respective price vector information P oldi Broadcast to their respective neighbor unmanned ships; S5, complete the allocation. The distributed cooperative target allocation method for unmanned ship formation reconstruction described in the present invention proposes a distributed collaborative target allocation method without a communication center, which reduces the dependence on the communication center and communication bandwidth, and improves the robustness of the system . At the same time, considering the characteristics of the underactuated unmanned ship, a cost function based on the Dubins curve is designed to quantify the cost of the unmanned ship to the target point, and solve the kinematic constraints ignored by the cost function based on the straight line.

Description

technical field [0001] The present invention relates to the technical field of unmanned ship formations, in particular to a distributed target cooperative assignment method for reconfiguration of unmanned ship formations. Background technique [0002] Aiming at the problem of target task assignment in formation reconfiguration, corresponding research results have been obtained at home and abroad. The main research is still focused on the target assignment of UAV formation, and the application research in unmanned ship formation is less. Among these allocation methods include Genetic Algorithm, Hungarian Algorithm, Particle Swarm Optimization. However, these methods have the following disadvantages: [0003] First, some existing methods are mainly implemented under a centralized control architecture. Such as Figure 9 As shown, all unmanned ships in the formation only communicate with the base station or the only communication center, and the communication bandwidth and per...

AI Technical Summary

Problems solved by technology

When the communication center fails, the allocation will not be completed, and the fault tolerance and robustness are low

And in the actual application of unmanned ship formations, affected by the communication distance of unmanned ships in certain sea areas, when the distance between the unmanned ship formation and the communication center or base station exceeds a certain range, the centralized allocation method is feasible greatly reduced sex

[0004] Second, there are few studies on the distance cost from the unmanned ship to the target point in the existing allocation methods

However, the unmanned ship 2 is affected by the kinematic constraints formed by underactuation, inertia and the constraints of the maximum rudder deflection angle, and cannot reach the target point in a straight line after completing the steering in situ. The actual path distance L 2 Much larger than the path distance L from ship 1 to the target point 1 , the corresponding cost will also increase

If the straight-line path distance is used as the cost to allocate the target, and the actual cost of the unmanned ship to the target point cannot be truly quantified, the feasibility of the allocation result is low, and the unmanned ship cannot reach the assigned target point.

Images