Under-actuated ship formation control system for realizing collision avoidance and obstacle avoidance

Abstract

The invention provides an under-actuated ship formation control system for realizing collision avoidance and obstacle avoidance. A guide system generates an expected track by a virtual ship so as to obtain an expected pose and an expected speed of a ship formation leader at each moment. Sensors such as a GPS and a gyroscope are used for collecting an actual pose and speed information of each ship. A graph theory describes an information flow direction in the formation. Information among the ships is transmitted to a collision avoidance and obstacle avoidance system through the graph theory. The collision avoidance and obstacle avoidance system generates response information according to the position of an obstacle and the position between the ships. The controller is designed based on the collision avoidance and obstacle avoidance system, the expected formation and the pose speed information of a leader ship, an auxiliary dynamic system is used for processing the saturation problem of the controller, signals generated by the controller are transmitted to an executing mechanism of the ship, the heading and speed of each under-actuated ship are adjusted, and the expected formation is reached. According to the invention, a formation collision avoidance and obstacle avoidance design is realized, and thrust saturation of under-actuated ships is considered; and the system is easier to apply to practice.

Description

technical field [0001] The invention relates to an underdriven ship formation control system for realizing collision avoidance and obstacle avoidance. Background technique [0002] In the past ten years, due to the wide use of unmanned ship formations in search and rescue, resource exploration, ocean cleaning, etc., unmanned ship formation control has attracted the attention of the control field. [0003] In terms of designing unmanned ship formation control, there have been many patents on distributed controllers for unmanned ships. However, few patents consider the problems of collision avoidance and obstacle avoidance. Chinese patent CN110196599A proposes a distributed control method for unmanned boats, and the two tasks of collision avoidance and connection maintenance are also realized. However, this patent does not take into account the physical limitations of the actuator mechanism, which means that its controller is difficult to use in practice. One of the difficu...

AI Technical Summary

Problems solved by technology

However, the patent does not consider the physical limitations of the actuator mechanism, which means that its controller is difficult to apply in practice

One of the difficulties in formation collision avoidance and obstacle avoidance is that generally designed collision avoidance and obstacle avoidance require far more force than the actuator can provide.

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