Multi-parameter route guided unmanned ship coordinated operation controller and design method thereof

Abstract

The invention discloses a multi-parameter route guided unmanned ship coordinated operation controller and a design method thereof. The controller comprises a communication network, multiple unmanned ship control units and multiple navigator controller unit; the unmanned controller units and the navigator controller units are respectively connected with the communication network. A distributed control structure is adopted, and in the formation, only a part of the unmanned ships can directly acquire information of navigators and the other part of the unmanned ships can only acquire information of the adjacent unmanned ships. Compared with the centralized control structure, the distributed control structure has the advantages of utilizing the limited resources of the unmanned ship formation more effectively, having good fault tolerance and small data transmission quantity, saving communication bandwidth, being easy to be expanded and the like, and thus, the coordinated operation controller is good for actual application. The controller cannot only realize coordinated follow-up control to the unmanned ships but respectively control the unmanned ship formation respectively to meet designated performance, thereby realizing coordinated operation control of the unmanned ships.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to a multi-parameterized path-guided unmanned ship cooperative manipulation controller design method. Background technique [0002] The 21st century is the century of the ocean. Great powers are engaged in fierce competitions over issues such as ocean territory, ocean resources, and ocean economy. In order to seize the commanding heights of ocean development, many countries have increased investment in marine equipment research and development. Among many marine equipment, intelligent unmanned ships are getting more and more attention due to their advantages such as wide range of activities, low cost and recyclability. However, the capability of a single unmanned ship is limited. Therefore, in some specific tasks, the collaborative operation of intelligent unmanned ship formations can be considered to improve work capabilities and work efficiency. At present, there are many fea...

AI Technical Summary

Problems solved by technology

[0006] First, in the existing cooperative control methods of unmanned ships, most of the leader's information needs to be accessed by each unmanned ship inside the formation, resulting in a typical centralized control scheme

This control scheme requires the navigator to have extremely high communication speed and communication bandwidth. However, due to the complex and changeable marine environment in reality, the communication capabilities of the navigator and even the entire unmanned ship formation are restricted. Therefore, the centralized control structure is not ideal. The best solution for cooperative control of unmanned ships

[0007] Second, in the existing cooperative control methods for unmanned ships, most of the leader information is converted into time-correlated trajectories

The unmanned ship cooperative controller under the guidance of time-correlated trajectory can only realize the cooperative tracking control of multiple unmanned ships, and cannot directly realize the control of other dynamic performances of the unmanned ship formation, such as speed and acceleration, which limits many Application of Unmanned Ship Cooperative Control Method

[0008] Third, in the existing unmanned ship cooperative control methods, the formation of the unmanned ship formation usually depends on the communication topology between the internal unmanned ships to determine and maintain, that is, the communication topology will also be fixed after the formation is determined.

However, in practical applications, the communication topology may change as the internal environment of the formation changes, which may cause the formation of unmanned ships to fail to maintain the expected formation

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