Cooperative control method for underwater glider formation

Abstract

The invention discloses a cooperative control method for an underwater glider formation. The cooperative control method comprises the following steps that step 1, each underwater glider in the formation obtains motion parameter data of the underwater glider and sends the motion parameter data to a formation control platform; 2, after the formation control platform receives the motion parameter data, a correction value of each underwater glider is calculated according to the motion parameter data and set parameter data; 3, a formation control platform sends the correction value to the corresponding underwater glider; and 4, each underwater glider receives the correction value and then adjusts navigation parameters according to the correction value. The formation control platform calculates the correction value of each underwater glider, so the operation resources of the underwater gliders are saved, and improvement of the utilization rate of the operation resources of the underwater gliders is facilitated; The formation control platform can master the motion parameter data of each member of the formation, and can know the position of each underwater glider in the formation in a more detailed manner, and thereby the formation pattern can be more accurately controlled.

Description

technical field [0001] The invention relates to the field of unmanned swarm control, and more specifically, to a method for cooperative control of underwater glider formations. Background technique [0002] With the rapid development of marine resources and marine environment detection, the use of a single underwater vehicle for observation and detection has an effective range and limited energy. Using multiple underwater vehicles to perform complex tasks in a fixed formation is a hot spot in the field of control. [0003] During the formation operation of underwater glider, it is necessary to maintain the relative position of each platform under complex sea conditions to maintain the stability of formation operation, so as to ensure that the formation can efficiently complete the ocean exploration task. When the existing underwater glider formation operates, each formation member controls its own position in the formation to avoid excessive position deviation or avoid colli...

AI Technical Summary

Problems solved by technology

When the existing underwater glider formation operates, each formation member controls its own position in the formation to avoid excessive position deviation or avoid collisions between members, which requires each member of the underwater glider formation to allocate a part Using computing resources to ensure its own position in the formation will not only lead to low detection efficiency of the underwater glider, but also reduce the operational safety of the entire formation, which is not conducive to the formation operation of the underwater glider

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