Double-layer cluster control method suitable for underwater unmanned vehicle

Abstract

The invention relates to a double-layer cluster control method suitable for an underwater unmanned vehicle. The system comprises a cluster formed by a plurality of underwater unmanned vehicles through formation networking, and a navigator and a follower are obtained through configuration; and for any follower, according to the determined following navigation position information, the determined following navigation motion information and the received following control state information, determining tracking state control information when the follower follows the navigator, so that when the follower tracks the navigator under the tracking state control information, tracking the navigator by the navigator according to the tracking state control information. The formation navigation state corresponding to the navigator is matched with the formation information in the received following control state information, and the tracking state control information comprises a speed layer control state used for determining the tracking navigation speed of the follower and a position layer control state used for determining the tracking target course angle of the follower. According to the invention, in an underwater weak traffic environment, the stability and reliability of formation control of multiple underwater unmanned vehicles are improved.

Description

technical field [0001] The invention relates to a control method, in particular to a double-layer cluster control method suitable for an underwater unmanned vehicle. Background technique [0002] Underwater unmanned vehicle is an unmanned platform that can perform underwater tasks autonomously without unmanned intervention through autonomous control technology. At present, underwater unmanned vehicles can be widely used in lakes, marine scientific surveys, detection and other fields. With the increasingly high requirements of underwater detection operations and the increasing task volume, a single aircraft operation can no longer meet the use requirements of some complex operations. [0003] In order to meet the needs of large-scale and high-precision ocean observation, multiple underwater unmanned vehicles can be formed and networked to achieve this. Compared with the operation of a single underwater unmanned vehicle, the method of forming a network of multiple underwater...

AI Technical Summary

Problems solved by technology

However, for multiple underwater unmanned vehicles, underwater formation networking operations still face problems such as weak underwater communication capabilities, unstable transmission and small amount of data, and immature formation control methods under weak communication conditions.

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