Multi-boat two-layer cooperative automatic control contraction pursuing method

A technology of motion direction and unmanned boat, applied in non-electric variable control, control/adjustment system, two-dimensional position/channel control, etc., can solve problems such as large differences and lack of intelligence

Pending Publication Date: 2022-05-13
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In most siege methods, the escaping strategy adopted by the escaping ship is generally not intelligent. It will only drive in a straight line or have no response to the movement of chasing the unmanned boat, and will not resist after being surrounded, which is different from the actual siege situation. very big

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  • Multi-boat two-layer cooperative automatic control contraction pursuing method
  • Multi-boat two-layer cooperative automatic control contraction pursuing method
  • Multi-boat two-layer cooperative automatic control contraction pursuing method

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Embodiment Construction

[0029] The hunting environment is simplified to a two-dimensional plane, and the hunting unmanned boat and the escaped ship can detect each other, that is, the location information is transparent and open. The position coordinate of the i-th pursuit unmanned boat is P pi (x pi ,y pi ), with velocity v pi , the direction of motion is β pi , r_USV p is the maximum radius of hunting unmanned boats, i∈[1,N], N is the number of hunting unmanned boats. The escape ship's position coordinates are P e (x e ,y e ), with velocity v e , the direction of motion is β e , r_USV e is the maximum radius of the fleeing ship. The purpose of chasing unmanned boats is to round up escaped ships, and the judgment mark is that all chased unmanned boats reach around the escaped ships and the distance is greater than or equal to R small . Assuming that the pursuit of unmanned boats is evenly distributed in the center of the circle with the escaped ship as the center, R small On a circle w...

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Abstract

The invention belongs to the field of unmanned ship control, can be used for water surface pursuit, and particularly relates to a single-escape ship surrounded by multiple unmanned ships. The step of pursuing the unmanned ship to surround the escaping ship is divided into two levels. If the escaped ship is outside the surrounding ring formed by the pursued unmanned ship, the unmanned ship is pursued to adopt a surrounding strategy; if the escaped ship is in the encirclement ring formed by chasing the unmanned ship, the strategy of shrinking the encirclement ring is adopted for chasing the unmanned ship. The strategy adopted for chasing the unmanned ship is switched under two conditions, so that the success of hunting is ensured; according to the invention, the escaping ship is endowed with the equivalent intelligence of chasing the unmanned ship, and the chasing of the unmanned ship can still be successful under the condition that the escaping ship adopts different escaping strategies according to different conditions, so that the whole chasing process is more suitable for the actual condition, and the chasing efficiency is improved.

Description

technical field [0001] The invention belongs to the field of unmanned boat control, in particular to multiple unmanned boats rounding up a single escaped ship. Background technique [0002] The unmanned boat is a surface boat with full autonomous perception and operation capabilities. It has the characteristics of small size, high speed, strong endurance, strong maneuverability and quick response. Through the cooperation between multiple unmanned boats, relatively complex tasks that cannot be completed by a single unmanned boat can be completed, such as rounding up. In most siege methods, the escaping strategy adopted by the escaping ship is generally not intelligent. It will only drive in a straight line or have no response to the movement of chasing the unmanned boat, and will not resist after being surrounded, which is different from the actual siege situation. very big. Contents of the invention [0003] The multi-boat two-layer cooperative automatic control shrinki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214
Inventor 宋利飞徐凯凯史晓骞陈侯京茅云生向祖权
Owner WUHAN UNIV OF TECH
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