A formation control system for underdrive ships that realizes collision avoidance and obstacle avoidance

Abstract

The invention provides an underdrive ship formation control system that realizes collision avoidance and obstacle avoidance. The guidance system uses a virtual ship to generate a desired trajectory, so as to obtain the desired posture and desired speed of the ship formation leader at each moment. GPS, gyroscope and other sensors collect the actual position, attitude and speed information of each ship. Graph theory describes the flow of information in a formation. The information between the ships is transmitted to the collision avoidance and obstacle avoidance system through graph theory. Collision and obstacle avoidance systems generate responsive information based on the location of obstacles and the position between ships. The controller is designed based on the collision avoidance and obstacle avoidance system, the desired formation, and the position, attitude and velocity information of the leader ship. The auxiliary dynamic system is used to deal with the saturation problem of the controller. The signal generated by the controller is transmitted to the ship's actuator to adjust each The heading and speed of the underdrive ship reach the desired formation. The present invention realizes the formation collision avoidance and obstacle avoidance design, while considering the thrust saturation of the underdrive vessel; this makes the patent easier to apply to practice.

Description

technical field [0001] The invention relates to a formation control system for underdrive ships that realizes collision avoidance and obstacle avoidance. Background technique [0002] In the past ten years, due to the extensive use of unmanned ship formations in search and rescue, resource exploration, marine pollution removal, etc., unmanned ship formation control has attracted attention in the field of control. [0003] In the aspect of designing the formation control of unmanned ships, there have been many patents about distributed controllers for unmanned ships. However, few patents consider the issues 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, the patent does not take into account the physical limitations of the actuator, which means that its controller is difficult to implement in pra...

AI Technical Summary

Problems solved by technology

However, this patent does not consider the physical limitations of the actuator, 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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