A Collision Avoidance Formation Controller Structure and Design Method for Unmanned Ship Swarm

Abstract

The invention discloses a collision self-avoiding formation controller structure and a design method of an unmanned ship swarm. The controller structure includes a collision avoidance and connection maintenance controller, a cooperative tracking controller, a speed converter, and a nonlinear differential tracking controller. controller, extended state observer, and dynamics controller. The invention is specially proposed for the underactuated unmanned ship, so it has a broader application prospect. The present invention uses the potential energy function to design a collision avoidance and connection maintenance controller, which can avoid collisions between underactuated unmanned ships and underactuated unmanned ships, and between underactuated unmanned ships and environmental obstacles during the formation process. Ensuring the communication between underactuated unmanned ships can greatly improve the safety of underactuated unmanned ships in practical applications. The invention adopts an output feedback design, can use an observer to obtain the speed information of the underactuated unmanned ship without using a speed sensor, and can save costs and reduce volume in practical applications.

Description

technical field [0001] The invention relates to the field of underactuated unmanned ship formation control, in particular to a structure and design method of a collision self-avoiding formation controller of an unmanned ship swarm. Background technique [0002] The exploration, development and utilization of the ocean are the current development priorities of various countries. Due to its miniaturization, light weight, and autonomy, the underactuated unmanned ship is an important tool for people to explore and develop the ocean. In some cases, the tasks that a single underactuated unmanned ship can complete are limited or inefficient, and the cooperation of multiple underactuated unmanned ships can overcome the above problems. Formation control of underactuated unmanned ships, as a form of coordination of multiple underactuated unmanned ships, has great application value in hydrological monitoring, sea area search and rescue, target interception and other fields. In format...

AI Technical Summary

Problems solved by technology

From the perspective of controller design, the existing underactuated unmanned ship formation control methods still have the following deficiencies: First, most of the existing underactuated unmanned ship formation control research is limited to the research on fully actuated ships , but in practical applications, the vast majority of ships do not have lateral thrusters and cannot obtain lateral thrust, which is an underactuated system, so the application value of many existing methods is weak

Second, most of the existing underactuated unmanned ship formation control studies do not consider possible collisions and out-of-communication situations in actual situations. In practical applications, if no corresponding measures are taken, underactuated unmanned ships are likely Collisions between ships, collisions between underactuated unmanned ships and environmental obstacles may damage underactuated unmanned ships, and it is also possible that an underactuated unmanned ship is out of control due to some reasons

Third, many existing researches on the formation control of underactuated unmanned ships are based on state feedback, but in practical applications, it is difficult to obtain accurate speed information through sensors on small underactuated unmanned ships

Fourth, most of the existing research on the formation control of underactuated unmanned ships does not consider the problem of limited control input of underactuated unmanned ships. At the initial moment and in some cases with large tracking errors, input saturation is prone to occur

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