Unmanned ship group control method based on African bee intelligent algorithm

Abstract

The invention discloses an unmanned ship group control method based on an African bee intelligent algorithm, and the method comprises the steps: determining the initial navigational speed and predicted navigational position of a single unmanned ship based on an unmanned ship group operation task and an African peak algorithm through employing iterative operation according to the current position and current navigational speed of the single unmanned ship in an operation sea area; gridding the operation sea area according to the sea condition information of the operation sea area, generating an operation task grid, and determining a task grid information matrix of the operation task grid; and determining a sub-grid of the operation task grid corresponding to the predicted navigation position, determining a navigation speed correction amount according to the sub-grid so as to correct the initial navigation speed, and generating a control instruction according to the corrected initial navigation speed and the predicted navigation position so as to control the single unmanned ship to sail to the sub-grid until the unmanned ship group operation task is completed. According to the technical scheme, the navigational speed and the navigational direction of the unmanned ship in the navigational process are optimized, and cooperative control over the unmanned ship group is carried out in real time.

Description

technical field [0001] This application relates to the technical field of unmanned boats, in particular, to a control method for unmanned boats based on the African bee intelligent algorithm. Background technique [0002] With the development and exploration of the ocean, unmanned boats, as a kind of water intelligent equipment, are increasingly valued by various countries, and the world is competing to develop them. Its development is very rapid, especially the breakthrough and application of key technologies such as intelligence, which may change the future military. Forms of naval warfare in the realm. With its outstanding advantages, unmanned boats have been continuously applied and developed in many military and civilian fields such as ocean patrol, search and rescue, combat, and marine environment detection. [0003] Unmanned boats have the functions of remote control and autonomous navigation, especially for complex environments such as harsh sea conditions that are ...

AI Technical Summary

Problems solved by technology

[0004] At present, the research on the unmanned boat itself is a scientific research hotspot in the modern high-end equipment manufacturing industry, but the research on the group control of the unmanned boat group is still in its infancy

[0005] In the existing technology, on the one hand, in the evolutionary algorithms such as the traditional optimization algorithm-particle swarm algorithm and whale swarm algorithm, the information transmission between generations is limited to between two adjacent generations of individuals, resulting in a single global search reference information, It is difficult to explore all feasible search areas in the mission sea area to obtain all target results

[0006] On the other hand, the current control of the unmanned boat swarm is limited to path planning, target detection, etc., and does not involve the speed control of a single unmanned boat in the swarm during navigation, especially without considering the sea conditions in the operating sea area. The combination of conditions and the speed of the unmanned boat leads to a serious waste of power during the voyage of the unmanned boat, and the maximum voyage cannot be reached, resulting in a low detection efficiency of the unmanned boat group to the operating sea area, and there is even the possibility that the operation task cannot be completed as planned , which is not conducive to the efficient, fast and continuous coordinated control of unmanned boats

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