Optimized mowing type formation control method for unmanned ship guided underwater vehicle group

Abstract

The invention discloses an optimized mowing type formation control method for an unmanned ship guided underwater vehicle group, which is used for solving a technical problem of poor practicability ofthe existing multi-ocean vehicle formation control method. The technical scheme is that a main vehicle is determined in underwater vehicles, the unmanned ship is enabled to communicate with the main vehicle through optical cable connection, and the main vehicle performs underwater acoustic communication with the other underwater vehicles according to the underwater acoustic communication distance.An error model of the unmanned ship and a reference target is constructed, and performance indexes are designed by using a model prediction control method so as to realize a problem of trajectory tracking optimization for the unmanned ship; and the underwater vehicles are divided into a main vehicle and slave vehicle, the main vehicle is based on state information of the unmanned ship and the slave vehicles, each slave vehicle is based on state information of the remaining underwater vehicles, and constrained formation optimization control is realized by using the distributed model predictioncontrol method. due to the adoption of the distributed model prediction control method, the problem of constrained formation optimization for the multiple ocean vehicles is solved, and the practicability is good.

Description

technical field [0001] The invention relates to a formation control method of multiple marine vehicles, in particular to an optimized mowing type formation control method for guiding a group of underwater vehicles by an unmanned ship. Background technique [0002] With the rapid development of society, people's demand for resources is increasing, and the ocean, which occupies 71% of the earth's area, is rich in minerals and aquatic resources, which can greatly alleviate the difficulties faced by human beings. The development and utilization of marine resources will become one of the key means for human beings to solve the problem of resource scarcity. [0003] In the process of searching and detecting marine resources, the use of autonomous marine vehicles can well avoid the risk of human operation in dangerous or unknown areas, and compared with manned marine vehicles, the structure is simpler, the operation is more convenient, and the release and recovery are also easier. ...

AI Technical Summary

Problems solved by technology

[0008] In order to overcome the shortcomings of poor practicability of the existing multi-ocean vehicle formation control method, the present invention provides an optimized mowing type formation control method for unmanned ships to guide underwater vehicle groups

Due to the use of the model predictive control algorithm and the construction of the quadrat

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