Multi-unmanned ship formation safety optimization control system
An optimized control, unmanned ship technology, applied in the control/regulation system, non-electric variable control, two-dimensional position/channel control and other directions, can solve the actual state constraints and execution of unmanned ships without considering dynamic and static obstacles Mechanism constraints and energy optimization control input smoothness and other issues, to achieve the effect of improving anti-disturbance and control accuracy, and improving safety
Pending Publication Date: 2022-03-22
DALIAN MARITIME UNIVERSITY
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[0006] The invention provides a multi-unmanned ship formation safety optimization control system to overcome the existing unmanned ship control system that does not consider dynamic and static obstacles in complex ocean environments, actual state constraints of unmanned ships, actuator constraints and energy constraints. Optimization, smoothness of control input and other technical issues
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[0120] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0121] This embodiment provides a multi-unmanned ship formation safety optimization control system, which is used to control each unmanned ship in the formation to track a given reference trajectory in formation, such as figure 1 , including a filtering module, a data collection module, a data-driven model information learning module, an informati...
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The invention discloses a multi-unmanned ship formation safety optimization control system, which comprises a filtering module for acquiring input and output state information of unmanned ships and filtering, a data collection module for acquiring and storing input and output state filtering information of the unmanned ships, and a model information learning module for acquiring a data set and learning an unmanned ship model, the information interaction communication network topology module is used for acquiring information of the unmanned ships with an information interaction relationship and sending the information to the formation tracking control module and the safety collision and obstacle avoidance control module; the formation tracking control module is used for acquiring navigation information and interaction information of the unmanned ships and calculating nominal control input; the safe collision and obstacle avoidance control module is used for acquiring nominal control input information and interaction information to calculate safe optimized longitudinal speed control input and a reference heading angle; and the heading angle tracking prediction control module is used for calculating heading angle control input. The system can avoid dynamic and static obstacles and collision between ships in a complex marine environment. And the risk-free formation tracking control of multiple unmanned ships is realized.
Description
technical field [0001] The invention relates to the field of cooperative control of unmanned ships, in particular to a multi-unmanned ship formation safety optimization control system. Background technique [0002] As a modern tool, unmanned ships have been widely used in intelligence collection, surveillance and reconnaissance, search and rescue, hydrographic survey, relay communication and other tasks. In order to improve operational efficiency and form a large-scale effect, the cooperative operation of multiple unmanned ship formations has been extensively studied. In the key technical field of multi-unmanned ship formation coordination, formation safety control technology is an important part, and it is of great significance to explore multi-unmanned ship formation safety control technology. [0003] The current unmanned ship formation motion control method has the following deficiencies: [0004] 1. Most of the existing unmanned ship formation control methods only foc...
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Login to View More IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 彭周华吕光颢顾兆伟王丹尹勇刘陆王浩亮
Owner DALIAN MARITIME UNIVERSITY