Heterogeneous unmanned system cooperative formation control system suitable for severe sea conditions and control method thereof

A control system and sea state technology, applied in the cooperative formation control system of heterogeneous unmanned systems and its control field, can solve problems such as navigation safety hazards, sensor failure, unmanned boat shaking, etc., and achieve the effect of enhancing the perception ability

Active Publication Date: 2021-03-19
SHANGHAI UNIV
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  • Abstract
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Problems solved by technology

[0002] As we all know, the ocean environment is changing rapidly. When the sea conditions are good, the unmanned boat can rely on various sensors and controllers on board to ensure high-precision navigation. However, when the sea conditions are bad, the unmanned boat will shake violently. The working efficiency of the sensors decreases, and some sensors even fail. At the same time, the "hills" and "gullies" formed by the superposition of waves criss-cross, and there may be vortices hidden in the "gullies". At this time, the boat-borne sensors can no longer accurately detect In the surrounding maritime environment, when the unmanned boat sails according to the initial route planning route, it may sail into the vortex, which brings great hidden dangers to navigation safety

Method used

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  • Heterogeneous unmanned system cooperative formation control system suitable for severe sea conditions and control method thereof
  • Heterogeneous unmanned system cooperative formation control system suitable for severe sea conditions and control method thereof

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Embodiment 1

[0030] A heterogeneous unmanned system cooperative formation control system suitable for severe sea conditions, see figure 1 , including shore-based systems, unmanned aerial vehicles and unmanned boat systems; shore-based systems are connected to UAV systems and unmanned boat systems, and UAV systems are connected to unmanned boat systems; shore-based systems are used to The target point command issued by the demand generates the initial path on the chart through the primary path planning module, and transmits the initial path information to the UAV system and the UAV system respectively; The position and attitude information of the human-vehicle system and the formation safety distance information complete the secondary optimization of the path. The optimized path can form a formation with the unmanned vessel system and provide maritime safety warning for the unmanned vessel system; The marine three-dimensional environment interference information, dynamic environment constra...

Embodiment 2

[0042] The control method of the heterogeneous unmanned system cooperative formation control system in bad sea conditions described in embodiment 1 includes the following steps:

[0043] Step 1. The shore-based system generates the initial path information of the UAV system and the formation safety distance information between the UAV system and the UAV system according to the mission requirements, and transmits the initial path information to the UAV system and the UAV system respectively. system, which sends formation safety distance information to the UAV system;

[0044] Step 2, the UAV path secondary optimization module analyzes the received initial path information, UAV pose information and formation safety distance information to generate the UAV secondary path optimization information, and transmits the UAV secondary path optimization information To the machine robustness controller; the machine robustness controller receives the drone's secondary optimization path inf...

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Abstract

The invention belongs to the technical field of unmanned system cooperative formation, and discloses a heterogeneous unmanned system cooperative formation control system suitable for severe sea conditions, wherein the system comprises a shore-based system, an unmanned aerial vehicle system and an unmanned ship system; the shore-based system is used for planning an initial path; the unmanned aerialvehicle system is used for updating a secondary optimization path of an unmanned aerial vehicle in real time according to the initial path and adjusting the unmanned aerial vehicle model in real time, so that the unmanned aerial vehicle flies as much as possible according to the secondary optimization path of the unmanned aerial vehicle and keeps stable; and the unmanned ship system is used for updating the secondary optimization path of the unmanned ship in real time according to the initial path and adjusting the unmanned ship model in real time, so that an unmanned ship sails according tothe secondary optimization path of the unmanned ship as much as possible and keeps stable.

Description

technical field [0001] The invention belongs to the technical field of cooperative formation of unmanned systems, and in particular relates to a cooperative formation control system of heterogeneous unmanned systems suitable for harsh sea conditions and a control method thereof. Background technique [0002] As we all know, the ocean environment is changing rapidly. When the sea conditions are good, the unmanned boat can rely on various sensors and controllers on board to ensure high-precision navigation. However, when the sea conditions are bad, the unmanned boat will shake violently. The working efficiency of the sensors decreases, and some sensors even fail. At the same time, the "hills" and "gullies" formed by the superposition of waves criss-cross, and there may be vortices hidden in the "gullies". At this time, the boat-borne sensors can no longer accurately detect In the surrounding maritime environment, when the unmanned boat sails according to the initial route plan...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 王曰英陈汇资吴乃龙周卫祥成敏蔚新宁严怀成罗均汪小帆
Owner SHANGHAI UNIV
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