Ship formation path active coordination system and method considering maneuverability difference

Abstract

The invention provides a ship formation path active coordination system and method considering maneuverability difference. A ship formation comprises a pilot ship and a plurality of following ships, acentralized control unit calculates the optimal path selection of the ship formation at the next moment according to the navigation channel information and the navigation state of each ship in combination with the maneuverability difference of the ships. The pilot ship adopts a sight line method to plan a path; the following ships adopt a model prediction control method to carry out path following control; and normal navigation conditions are preset, the following ship with the maximum maneuverability safety index is identified as a representative ship when the navigation channel condition exceeds the normal navigation conditions according to the navigation channel information, and the path of the pilot ship and / or the ship formation is adjusted in combination with the calculation of thepilot ship and the maneuverability safety index of the representative ship. According to the invention, centralized control coordination is carried out when special passing conditions are met, and meanwhile, the maneuverability characteristics of each ship in the ship formation are comprehensively considered, so that the formation of the ship formation system is better maintained.

Description

technical field [0001] The invention belongs to the field of ship control, and at the same time relates to ship formation control technology, in particular to an active coordination system and method for ship formation paths considering maneuverability differences. Background technique [0002] With the modern intelligent control theory being widely used in all walks of life, ship control research has also entered a new era of ship intelligent control. In the face of increasingly complex and changeable tasks, the limitations of single-ship intelligent control research have become increasingly prominent. In this situation, the coordinated navigation of the ship formation is realized, that is, through the close communication and cooperation of multiple individual ships, complex navigation tasks are completed collaboratively. There are roughly four types of existing ship formation control methods: leader-follower method, behavior-based method, virtual structure method and grap...

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Problems solved by technology

Taking the Syria-Chongqing section of the Yangtze River as an example, the waterway is located in a mountainous area with sharp bends. The waterway has problems such as small size, poor water flow conditions, and complex water and sand movement conditions. In addition, the mountainous section has a bifurcated river type, many sharp bends, and ship navigation conditions. heavily restricted

[0004] The complex navigation environment conditions put forward higher requirements for the establishment and maintenance of the ship formation formation. The existing ship formation system's response method is mostly independent decision-making by individual ships, and the safety of navigation is guaranteed by passive collision avoidance. Generally speaking, it is difficult to coordinate the overall path of the formation

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