Multi-surface ship distributed formation control method based on artificial potential field method

Abstract

The invention discloses a multi-surface ship distributed formation control method based on an artificial potential field method, and the method comprises the steps: S1, building a mathematical model of a ship, and building a total potential field function of the ship through employing the artificial potential field method; s2, adopting a backstepping method to design a distributed robust control law of the multiple water surface ships; s3, establishing an unknown function of ship stress by using a single hidden layer neural network; s4, according to the distance information between the ship and the obstacle, judging whether the ship has a collision risk or not; if not, the ship is controlled to advance according to the original target trajectory through the robust control law; if yes, the position of the ship at the next moment, namely the collision avoidance path of the ship at the next moment, is calculated according to a potential field model and an unknown function, and the ship is controlled to go to the position through the robust control law. The problem that the ship cannot advance according to the original formation target trajectory is solved, the safety of the unmanned ship during navigation is improved, and collision avoidance of the ship is effectively prevented.

Description

technical field [0001] The invention relates to the field of multi-surface ship path planning, in particular to a method for controlling the distributed formation of multi-surface ships based on an artificial potential field method. Background technique [0002] With the rapid development of ship control technology, it has become a general trend for multi-surface ships to perform tasks, but when encountering obstacles, the research on autonomous path planning for ships is not mature enough. At present, most of the artificial potential field methods are applied to the ship starting from a starting point and reaching the target point at a uniform speed. After encountering an obstacle, it will carry out path planning autonomously. However, there is very little research on autonomous path planning when the ship is controlled by the formation control rate after encountering an obstacle. And because the ship is in an artificial potential field composed of obstacles and target tra...

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Problems solved by technology

However, there are very few studies on the autonomous path planning of ships after encountering obstacles under the control of formation control rate.

And because the ship is in the artificial potential field composed of obstacles and target trajectories, when there is an obstacle near the target track, the attraction force on the ship is small and the repulsion force is large, so it is difficult for the ship to control the target according to the formation control rate. track to move forward

When the ship sails to a certain position, at a certain position, the gravitational and repulsive forces on the ship will be just equal in size, which will make the ship fall into a local optimal solution or oscillate; when conducting multi-ship collision avoidance research, it is based on The situation of unimpeded communication between ships does not consider the autonomous collision avoidance between unmanned ships under the condition of no communication

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