Underwater cluster formation system control method based on electric field communication networking

A control method and communication group technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems that the underwater unmanned operation system is out of the collaborative operation state, and the underwater communication is difficult to maintain data interoperability continuously, so as to improve the cooperative detection ability, improving the efficiency of collaborative operations, and improving the stability of the formation space structure

Pending Publication Date: 2022-07-01
XI AN JIAOTONG UNIV
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Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that underwater communication is difficult to continuously maintain data interoperability and make the underwater unmanned operation system out of the cooperative operation state, and to provide a control method for underwater cluster formation system based on electric field communication network

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  • Underwater cluster formation system control method based on electric field communication networking
  • Underwater cluster formation system control method based on electric field communication networking
  • Underwater cluster formation system control method based on electric field communication networking

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Embodiment Construction

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] An underwater swarm formation system control method based on electric field communication networking, refer to figure 1 , including obstacle avoidance path planning methods and formation control methods;

[0034] The control method of the underwater swarm formation system based on the electric field communication networking includes the following steps:

[0035] Step 1, the underwater vehicle receives the initial navigation path info...

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Abstract

The invention discloses an underwater cluster formation system control method based on electric field communication networking, and the method comprises an obstacle avoidance path planning method and a formation control method, carries out the networking of an underwater vehicle cluster through underwater electric field communication, achieves the distributed control structure of the underwater vehicle cluster based on the carrying of a broadcast mode, and carries out the formation control of the underwater vehicle cluster. Real-time data intercommunication and cooperative motion control of the underwater vehicle cluster formation system are realized, and the underwater vehicle cluster formation system can maintain high-reliability data intercommunication in a working area, so that the underwater vehicle cluster formation system can stably maintain a cooperative operation state.

Description

technical field [0001] The invention belongs to the field of underwater robot control systems, in particular to a control method for an underwater swarm formation system based on electric field communication networking. Background technique [0002] With the increasing shortage of terrestrial strategic resources, countries around the world have increased their emphasis on ocean development and exploration, and ocean operations tasks have become increasingly complex and diverse. It is difficult for a single underwater operation equipment to meet the demand. Multiple underwater operation equipment is formed through network communication. The underwater unmanned operation system can perform various complex underwater operation tasks more efficiently and collaboratively. However, underwater communication is limited by the interference of the complex underwater environment, and there are problems of large delay in information transmission and low communication rate, which easily ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 胡桥冯豪博赵振轶冯兴龙
Owner XI AN JIAOTONG UNIV
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