Multi-unmanned-boat cooperative formation method with variable pilot mode
An unmanned boat and navigator technology, applied in non-electric variable control, two-dimensional position/channel control, instruments, etc., can solve problems such as the inability to meet the formation control mode, affecting formation control, and restricting the completion of formation operation tasks. , to achieve the effect of maintaining overall security, ensuring reliability, and achieving independence
Active Publication Date: 2020-11-10
航天时代(青岛)海洋装备科技发展有限公司
View PDF7 Cites 5 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004]
At present, multi-unmanned vehicle cooperative formation methods, such as the navigator mode formation control method and the virtual structure formation control method, all rely heavily on a single individual in the formation. If there is a single individual failure during the formation process, it will have a great impact Formation control will also limit the completion of formation tasks
At the same time, the existing formation control mode cannot meet the needs of some temporary tasks and the handling of emergencies. For example, during the formation process, it is necessary to separate part of the formation members for special task processing to coordinate and efficiently complete the task. For example, in the formation patrol task In the scenario, the sudden confrontation target intrusion formation needs to divide the formation urgently to avoid
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0046] The present invention will be further elaborated below in conjunction with embodiment.
[0047]The present invention provides a multi-unmanned boat cooperative formation method with variable navigator mode, and its implementation flow chart is as follows figure 1 As shown, the specific implementation steps are as follows:
[0048] Step S10, perform formation allocation: use the assignment problem as the mathematical model of formation allocation, establish an objective function based on the total route cost and total time cost of the navigation required by formation allocation, and use the optimization method to solve the optimal allocation method;
[0049] Set the position coordinates of the unmanned boat as p i =[x i the y i ] T , then for a formation with n unmanned boats, its position can be expressed as p=[p 1 ,...,p i ,...,p n ], set the coordinates of position i in the desired formation as f i =[x i the y i ] T , then the desired formation coordinate...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a multi-unmanned-boat cooperative formation method with a variable pilot mode. The method comprises the steps of S10, performing formation allocation; S20, constructing a fully connected graph; S30, determining a pilot; S40, establishing an unmanned ship formation kinematics model according to the unmanned ship kinematics model and the formation relationship; S50, carryingout formation motion decision making; S60, determining the control quantity of an unmanned ship; and S70, judging whether the formation task is completed or not. According to the method, the assignment problem model is established to distribute the formation, and the total path and total time objective function is introduced, so that the total path and total time objective function is optimal information change, the fully connected graph is constructed, pilots are changed in the emergency formation change process, and efficient and safe navigation of the formation is ensured.
Description
technical field [0001] The invention belongs to the field of multi-unmanned boat cooperative formation, and relates to a multi-unmanned boat cooperative formation method with a variable pilot mode. Background technique [0002] With the development of intelligent driving technology and unmanned technology, the application of unmanned surface vessel (USV) in ocean engineering has attracted a large number of experts and scholars to conduct research. Relying on its low operating cost, wide operating range, and strong environmental adaptability, it has been gradually applied in military and civilian fields such as surveying and mapping, exploration, environmental monitoring, security patrol, mine clearance, anti-submarine, and investigation. [0003] In a complex marine environment, it is often difficult or impossible for a single unmanned boat to complete complex tasks. The research on multi-unmanned boats for collaborative operations has attracted the attention of most scholar...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T10/40
Inventor 谢家文胡常青李清洲杨博李蒙陈魁
Owner 航天时代(青岛)海洋装备科技发展有限公司