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UUV cluster formation pattern forming method based on circumferential hierarchical planning

A technology of layered planning and formation, applied in three-dimensional position/channel control and other directions

Active Publication Date: 2019-12-17
HARBIN ENG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

First of all, this patent is a method of using the UAVs in the formation to generate their respective target formation positions to form a target reference formation, which is different from the formation formation method of the present invention that uses the main UUV to obtain all UUV information and conduct unified planning of maneuvering position points

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  • UUV cluster formation pattern forming method based on circumferential hierarchical planning
  • UUV cluster formation pattern forming method based on circumferential hierarchical planning
  • UUV cluster formation pattern forming method based on circumferential hierarchical planning

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Embodiment Construction

[0084] The specific implementation manner of the present invention will be further described below in conjunction with the accompanying drawings.

[0085] combine figure 1 , introducing the formation process of UUV cluster formation.

[0086] Such as figure 1 As shown, a UUV cluster containing 5 members is introduced. In the initial state, the geometry of cluster UUVs is randomly distributed and disordered, and each UUV is in a standby state, waiting for the formation formation start command. The desired geometric formation is the rectangular formation shown in the figure. When the formation starts, all UUVs determine whether they are the master UUV or the slave UUV according to the identity information given to them in advance. In the figure, UUV 0 is the master UUV, and the rest are slave UUVs. The main UUV maintains positioning and heading, and after information interaction, independent planning, and coordinated maneuvers between the UUV clusters, the desired rectangula...

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Abstract

The invention discloses a UUV cluster formation pattern forming method based on circumferential hierarchical planning. The method comprises the steps that initialization is carried out to set a UUV master-slave identity instruction, formation forming parameters and an expected formation instruction; after forming of the formation, each UUV maintains a fixed point and a fixed heading, and determines the master-slave identity; a UUV cluster interacts position and heading information; the master UUV carries out scattered maneuvering planning on the slave UUVs and sends target points of scatteredmaneuvering; the slave UUVs carry out scattered maneuvering, and inform the master UUV after maneuvering is completed; the master UUV carries out radial and circumferential maneuvering planning on theslave UUVs sequentially, and sends target points of radial and circumferential maneuvering sequentially; the slave UUVs carry out radial and circumferential maneuvering sequentially, and inform themaster UUV after maneuvering is completed; and the master UUV sends a formation forming success instruction to the slave UUVs, and the UUV cluster forms the formation. Thus, the UUV cluster can form the expected formation rapidly and safely from an initial random distribution and disordered form.

Description

technical field [0001] The invention relates to a method for forming a desired formation of UUV (Unmanned Underwater Vehicle, Unmanned Underwater Vehicle) cluster formation based on circular hierarchical planning, and belongs to the field of UUV formation control. Background technique [0002] UUV is playing an increasingly important role in both civilian and military marine domains. However, the individual capabilities of a single UUV are limited and cannot complete complex tasks. Due to the characteristics of functional redundancy and spatial distribution, UUV clusters can enhance operational capabilities, improve operational efficiency, and complete complex operational tasks through mutual cooperation. UUV clusters usually operate in a formation that maintains a certain desired formation, so formation control technology is one of the key technologies for UUV clusters. The first problem to be solved in UUV cluster formation control is formation formation. Formation form...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 陈涛高航徐达戚琪吴迪
Owner HARBIN ENG UNIV
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