A Motion Control Method for a Formation of Two Unmanned Boats Passing through a Long and Narrow Channel

Abstract

The present invention belongs to the field of multi-unmanned boat control, and specifically proposes a motion control method for a double-unmanned boat formation to pass through a long and straight narrow river channel, including: calculating the formation control force of each unmanned boat in real time based on the current position and its speed of each unmanned boat, as well as the current positions and speeds of each neighbor of the unmanned boat in its formation through the flocking algorithm; determining a point on each side of the river channel curve with the same abscissa as the current position abscissa of each unmanned boat as the repulsion point of the unmanned boat in each river channel, and calculating the total repulsion force between the unmanned boat and the river channel through a piecewise function of the repulsion potential; calculating the total repulsion force between the unmanned boat and each neighbor unmanned boat in another unmanned boat formation through the repulsion potential function between formations based on the current position of each unmanned boat and the positions of the neighbor unmanned boats in another unmanned boat formation. Using the sum of the three forces obtained, update the speed and position of the unmanned boat at the next moment to achieve the purpose of the double-unmanned boat formation passing through the long and straight narrow river channel.

Description

Technical Field

[0001] The present invention belongs to the field of multi-unmanned boat control, and more specifically, relates to a motion control method for a double-unmanned boat formation passing through a long and straight narrow river channel. Background Art

[0002] In recent years, with the development of intelligent robot technology, the research on unmanned boats has become a hot topic of current research. At present, most research focuses on the control of a single unmanned boat. However, due to the limitations of its own conditions, a single unmanned boat is difficult to complete relatively complex tasks, and its application range is limited. Through the cooperative control of multiple unmanned boats, the work efficiency can be greatly improved, the operation range can be expanded, and more complex tasks can be completed.

[0003] At the same time, when multiple unmanned boats work in a river channel or fjord with boundary restrictions, the existing technology is difficult to perform effective cooperative control. Especially when multiple clusters pass through a narrow river channel at the same time, the existing technology often has difficulty in completing the tasks in this scenario. Summary of the Invention

[0004] In view of the defects and improvement requirements of the existing technology, the present invention provides a motion control method for a double-unmanned boat formation passing through a long and straight narrow river channel, aiming to propose a motion control strategy to avoid collisions and effectively complete the task of a double-unmanned boat formation passing through a long and straight narrow river channel.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided a motion control method for a double-unmanned boat formation passing through a long and straight narrow river channel, including:

[0006] Based on the current position p i and the speed v i of each unmanned boat in each unmanned boat formation in real time, and the current positions p j and the speeds v j of each neighbor of the unmanned boat in the unmanned boat formation, and combining the current position p r and the speed v r of the virtual leader of the formation where the unmanned boat is located, calculate the formation control force U fi of the unmanned boat through an improved flocking algorithm;

[0007] Determine a point with the same abscissa as the abscissa of the current position of each unmanned boat on the pre-determined curve of each side of the river channel as the repulsive point of the unmanned boat on each river channel; based on the repulsive points on both sides of the river channel corresponding to each unmanned boat, calculate the total repulsive force between the unmanned boat and the river channel through the repulsive force potential piecewise function corresponding to each side of the river channel as the river channel control force U ri of the unmanned boat, where the repulsive force potential piecewise function is obtained by setting the safe distance and the dangerous distance between the unmanned boat and the river bank;

[0008] Based on the current position p of each unmanned boat i and the position p j ′ of its neighboring unmanned boats in another unmanned boat formation, the total repulsive force between the unmanned boat and each of its neighboring unmanned boats in the other unmanned boat formation is calculated through the repulsive potential function between formations, and used as the inter-formation control force U oi ;

[0009] The inter-formation control force U fi of each unmanned boat, the river channel control force U ri and the inter-formation control force U oi are vectorially added as the total control amount of the unmanned boat to update the speed and position of the unmanned boat at the next moment, so as to realize the motion control of the double unmanned boat formation passing through the long and narrow river channel.

[0010] The beneficial effects of the present invention are as follows: In the motion control of each unmanned boat, the total motion control input proposed by the present invention includes three parts, which respectively correspond to the formation control of the unmanned boat, the collision avoidance control between the unmanned boat and the river channel, and the collision avoidance control between different unmanned boat clusters. First, when the unmanned boat passes through the long and narrow river channel, the unmanned boats in the same cluster will form a lattice formation according to the formation control amount. Secondly, for the unmanned boats in the formation, the river channel will generate corresponding repulsive points of the river channel. By using the piecewise repulsive potential function of the river channel, different magnitudes of repulsive forces U ri are generated according to the position away from the river bank, and the unmanned boat formation is restricted in the long and narrow river channel to complete the cooperative formation of multiple unmanned boats passing through the long and narrow river channel; in addition, the repulsive force U oi between formations can be obtained by using the repulsive potential function between formations to realize the collision avoidance of unmanned boats between different formations. The information obtained by the method of the present invention is relatively easy to collect. By using the relevant information of the unmanned boat and its neighbors, the formation task is completed; according to the designed piecewise repulsive potential function of the river channel, the formation passes smoothly under the constraint of the narrow and long terrain; by using the potential field method to design the repulsive potential function between formations, the collision avoidance between the two formations is realized. The invention expands the application range of the unmanned boat, improves the efficiency of the unmanned boat to complete tasks, implements the application of the multi-agent theory, and has broad prospects.

[0011] Furthermore, the initial position of the virtual leader of each unmanned boat formation is the average value of the initial positions of the unmanned boats in the unmanned boat formation, and in each motion control, its position is updated through the dynamic model of the virtual leader;

[0012] The speed of the virtual leader of each unmanned boat formation is the target speed of the unmanned boat formation, and takes a preset fixed value.

[0013] The further beneficial effect of the present invention is that the method for determining the position and speed of the virtual leader is fast and efficient.

[0014] Furthermore, the channel curve on each side is constructed in the following way:

[0015] Evenly collect m points on the channel on this side to obtain the position coordinates of each point; perform curve fitting on the m points on each side of the channel to obtain the corresponding channel curve of this side of the channel.

[0016] A further beneficial effect of the present invention is that the method is simple and efficient.

[0017] Furthermore, the formation control force U of the i-th unmanned boat in each unmanned boat formation fi is calculated as follows:

[0018]

[0019] In the formula, m i is the mass of the i-th unmanned boat in each unmanned boat formation; α1 and α2 are formation control coefficients, given values; N i represents the total number of neighbor unmanned boats of the i-th unmanned boat in its formation; are all greater than 0; φ α represents the α action function; p j represents the position of the j-th neighbor unmanned boat of the i-th unmanned boat in its unmanned boat formation; p i represents the position of the i-th unmanned boat; v j represents the speed of the j-th neighbor unmanned boat of the i-th unmanned boat in its unmanned boat formation; v i represents the speed of the i-th unmanned boat; c1 and c2 are target tracking coefficients; p r represents the position of the virtual leader of the unmanned boat formation where the i-th unmanned boat is located; v r represents the speed of the virtual leader of the unmanned boat formation where the i-th unmanned boat is located, that is, the target speed of this formation;

[0020] sφ α (x) = ρ h (x / ||R|| σ )φ(x - ||d|| σ );x = ||p j - p i || σ

[0021]

[0022] In the formula, d is the expected distance between unmanned boats in the formation when the formation is formed; R represents the critical distance between an unmanned boat in the unmanned boat formation and its neighbor in the same formation, both are given values;

[0023] a ij(p) = ρ h (p) ∈ [0, 1], j ≠ i, p = ||p j -p i || σ / ||R|| σ ;

[0024]

[0025] Where h ∈ (0, 1), a given value.

[0026] Furthermore, the repulsive potential piecewise function between the i-th unmanned boat and its corresponding k-th side river channel repulsion point is:

[0027]

[0028] Where d saf is the river channel safety distance; d dan is the river channel danger distance; d saf ≥ d dan , both are given values; X k = ||p i -p ick ||, p ick represents the position of the repulsion point of the i-th unmanned boat on the k-th side river channel, k represents the number of the two side river channels, taking values of 1 or 2; λ1, λ2, θ are all potential field coefficients, λ2 > λ1 > 0, θ > 0; C reri,k represents the repulsive potential between the i-th unmanned boat and its corresponding k-th side river channel repulsion point;

[0029] Then the river channel control force of the i-th unmanned boat

[0030] A further beneficial effect of the present invention is that: this method sets the river channel safety distance and the river channel danger distance, and uses different potential field coefficients λ1, λ2 to represent that when the hull approaches the river bank, according to the different distances from the river bank, the strength of its potential field is different, and correspondingly, the magnitude of the repulsive force generated is different. By using the piecewise function, various situations of the distance between the unmanned boat and the river bank are considered, and different forces are generated according to the level of the collision danger.

[0031] Furthermore, the repulsive potential function between formations is:

[0032]

[0033] Where η > 0 is the potential field coefficient, X d = ||p i -p′ j||-l represents the difference between the positional distance between the i-th unmanned boat and its neighboring unmanned boat in another formation and the hull length l of the i-th unmanned boat, and r2 is the critical distance between the i-th unmanned boat and its neighboring unmanned boat in another formation, which is a preset value; X r =||p i -p r ||, which represents the positional distance between the i-th unmanned boat and the virtual leader of the unmanned boat formation where it is located; C repi represents the repulsive potential between formations; N′ i represents the total number of neighboring unmanned boats of the i-th unmanned boat in another unmanned boat formation;

[0034] Then the inter-formation control force of the i-th unmanned boat

[0035] The beneficial effects of the present invention are as follows: On the one hand, the present invention takes into account the length of the unmanned boats in the formation, that is, X d =||p 1i -p 2j ||-l, to avoid the situation where the hulls collide although the centers of mass of the hulls do not reach the same location. On the other hand, a formation target term is added to the potential field function, which ensures that while the unmanned boats in the two formations avoid colliding with each other, the unmanned boat formation effectively follows and tracks the target on the basis of formation control, which is reflected as the second term in U oi in U oi

[0036] The present invention also provides a motion control system for a double unmanned boat formation passing through a narrow channel, including a processor and a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement a motion control method for a double unmanned boat formation passing through a narrow channel as described above.

[0037] The present invention also provides a computer-readable storage medium, which includes a stored computer program. When the computer program is run by a processor, it controls the device where the storage medium is located to execute a motion control method for a double unmanned boat formation passing through a narrow channel as described above.

[0038] Generally speaking, through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0039] ​The overall motion control input proposed by the present invention includes three parts, corresponding to the formation control of unmanned boats, the collision avoidance control between unmanned boats and the river channel, and the collision avoidance control between different unmanned boat clusters, solving the technical problem that it is difficult to conduct cooperative control for a double unmanned boat formation passing through a long, straight and narrow river channel, and realizing the formation of unmanned boats and the collision avoidance between different unmanned boat formations under the constraint of long, straight and narrow terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow block diagram of a motion control method for a double unmanned boat formation passing through a long, straight and narrow river channel provided by an embodiment of the present invention;

[0041] Figure 2 It is an overall schematic diagram of the motion control for a double unmanned boat formation passing through a long, straight and narrow river channel provided by an embodiment of the present invention;

[0042] Figure 3 It is a schematic diagram of the river channel corresponding to the river channel repulsion points provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Embodiment 1

[0045] A motion control method for a double unmanned boat formation passing through a long, straight and narrow river channel includes:

[0046] Based on the current position p i and its sailing speed v i of each unmanned boat in each unmanned boat formation in real time, and the current positions p j and their sailing speeds v j of each neighbor of the unmanned boat in the unmanned boat formation, combined with the current position p r and speed v r of the virtual leader of the formation where the unmanned boat is located, calculate the formation control force U fi of the unmanned boat through an improved flocking algorithm;

[0047] Determine a point on the pre-determined river channel curves on each side whose abscissa is the same as the abscissa of the current position of each unmanned boat as the repulsion point of the unmanned boat on each river channel; based on the repulsion points of both sides of the river channel corresponding to each unmanned boat, calculate the total repulsion force between the unmanned boat and the river channel through the piecewise function of the repulsion potential of each side of the river channel as the river channel control force U ri, where the repulsive potential piecewise function is obtained by setting the safe distance and dangerous distance between the unmanned boat and the river bank;

[0048] Based on the current position p of each unmanned boat i and the position p j ′ of its neighboring unmanned boats in another unmanned boat formation, the total repulsive force between the unmanned boat and each of its neighboring unmanned boats in the other unmanned boat formation is calculated through the repulsive potential function between formations, and used as the inter-formation control force U of the unmanned boat oi ;

[0049] The formation control force U of each unmanned boat fi , the river channel control force U ri and the inter-formation control force U oi are vectorially added as the total control amount of the unmanned boat to update the speed and position of the unmanned boat at the next moment, realizing the motion control of the double unmanned boat formation passing through the long and straight narrow river channel.

[0050] Among them, the calculation formula for the total control input U of each unmanned boat i is:

[0051] U i = U fi + U ri + U oi ;

[0052] The simplified dynamic model of the unmanned boat is:

[0053]

[0054] Substitute the total control input U i to update the speed and position of the unmanned boat at the next moment.

[0055] The dynamic model of the virtual leader is:

[0056]

[0057] Update the position of the virtual leader at the next moment according to the above dynamic model. This method calculates the corresponding input U of the unmanned boat i to achieve the control purpose, that is, the double unmanned boat formation passes through the long and straight narrow river channel.

[0058] Specifically, the determination method of the repulsive point of each unmanned boat on each river channel can be: substitute the abscissa of the current position of each unmanned boat into the river channel curve of each side of the river channel to obtain the corresponding ordinate, and use the point corresponding to the abscissa and ordinate as the river channel repulsive point of the unmanned boat on the corresponding river channel.

[0059] As a preferred embodiment, the initial position of the virtual leader of each unmanned boat formation is the average of the initial positions of the unmanned boats in the unmanned boat formation. In each motion control, the position of the virtual leader is updated through its dynamic model;

[0060] The speed of the virtual leader of each unmanned boat formation is the target speed of the unmanned boat formation, and the value is a preset fixed value.

[0061] Specifically, the initial position p of the formation virtual leader r The corresponding calculation formula is as follows:

[0062]

[0063] In the formula, p i represents the position of each unmanned boat in the formation, and n represents the number of unmanned boats in the unmanned boat formation.

[0064] As a preferred embodiment, the river channel curve on each side is constructed in the following manner:

[0065] Uniformly collect m + 1 points on the river channel on this side to obtain the position coordinates of each point; perform curve fitting on the m + 1 points on each side of the river channel to obtain the corresponding river channel curve on this side.

[0066] Specifically, when establishing the coordinate system, consider the river channel trend, and take the river flow direction as the horizontal axis direction of the coordinate system. The cubic spline curve method with natural boundary conditions that can be used for river channel fitting is as follows:

[0067] Analyze one side of the river channel, and uniformly collect the position coordinates of m + 1 points on both sides of the river channel t ranges from 0 to m. For each sub - interval [x n , x n+1 , n ranges from 0 to m - 1, and give the equation form after fitting: y n = a n + b n (x - x n ) + c n (x - x n ) 2 + d n (x - x n ) 3 , a n , b n , c n , d n are all undetermined coefficients.

[0068] The calculation steps are as follows:

[0069] (1) Calculate the step size: s n = xn+1 -x n ;

[0070] (2) Substitute the data node and the specified first endpoint condition into the following matrix equation:

[0071]

[0072] M t is an intermediate variable. According to the natural boundary condition, there is: M0 = 0M m = 0;

[0073] (3) Solve the matrix equation to obtain M n ;

[0074] (4) Calculate the spline curve coefficients:

[0075]

[0076] (5) Create an equation in each small interval:

[0077] y n = a n + b n (x - x n ) + c n 9x - x n ) 2 + d n (x - x n ) 3 ;

[0078] For the position of the unmanned boats in the unmanned boat formation Substitute the abscissa x of the unmanned boat i into the cubic spline curve equations on both sides of the river channel to obtain the coordinates of the two river channel repulsion points corresponding to the unmanned boats in the formation: p ic1 , p ic2 .

[0079] As a preferred implementation method, the calculation method of the formation control force U fi of the i-th unmanned boat in each unmanned boat formation is:

[0080]

[0081] In the formula, m i is the mass of the i-th unmanned boat in each unmanned boat formation; α1, α2 are formation control coefficients, given values; N i represents the total number of neighbor unmanned boats of the i-th unmanned boat in its formation; are all greater than 0; φ α represents the α action function; p jDenotes the position of the j-th neighboring unmanned boat of the i-th unmanned boat in its unmanned boat formation; p i Denotes the position of the i-th unmanned boat; v j Denotes the speed of the j-th neighboring unmanned boat of the i-th unmanned boat in its unmanned boat formation; v i Denotes the speed of the i-th unmanned boat; c1, c2 are target tracking coefficients; p r Denotes the position of the virtual leader of the unmanned boat formation where the i-th unmanned boat is located; v r Denotes the speed of the virtual leader of the unmanned boat formation where the i-th unmanned boat is located, that is, the target speed of the formation;

[0082] φ α (x) = ρ h (x / ||R|| σ )φ(x - ||d|| σ );x = ||p j -p i || σ ;

[0083]

[0084] In the formula, d is the expected distance between the unmanned boats in the formation when the formation is formed; R represents the critical distance between an unmanned boat in the unmanned boat formation and its neighbor in the same formation, both are given values;

[0085] a ij (p) = ρ h (p) ∈ [0, 1], j ≠ i, p = ||p j -p i || σ / ||R|| σ ;

[0086]

[0087] In the formula, h ∈ (0, 1), a given value.

[0088] As a preferred implementation, the repulsive potential piecewise function between the i-th unmanned boat and its corresponding k-th side river channel repulsion point is:

[0089]

[0090] In the formula, d saf is the river channel safety distance; d dan is the river channel danger distance; d saf ≥ d dan , both are given values; X k = ||p i -p ick ||, p ickIt represents the repulsion point position of the $i$-th unmanned boat in the $k$-th side channel, where $k$ represents the channel number on both sides, taking values of 1 or 2; $\lambda_1$, $\lambda_2$, and $\theta$ are all potential field coefficients, with $\lambda_2 > \lambda_1 > 0$ and $\theta > 0$; $C$ reri,k represents the repulsive potential between the $i$-th unmanned boat and the repulsion point of its corresponding $k$-th side channel;

[0091] Then the channel control force of the $i$-th unmanned boat is:

[0092]

[0093] The design idea of the above repulsive potential piecewise function is as follows: when the distance between the unmanned boat and the river bank is greater than the channel safety distance, the channel does not generate repulsion; when the distance between the unmanned boat and the river bank is between the channel safety distance and the channel danger distance, corresponding repulsion is generated; when the distance between the unmanned boat and the river bank is less than the channel safety distance, greater repulsion is generated; the magnitude of the repulsion is represented by the coefficients $\lambda_1$ and $\lambda_2$.

[0094] This scheme sets the channel safety distance and the channel danger distance, and uses different potential field coefficients $\lambda_1$ and $\lambda_2$ to represent that when the hull approaches the river bank, the strength of its potential field is different according to the different distances from the river bank, and correspondingly, the magnitude of the generated repulsion is different. By considering various situations of the distance between the unmanned boat and the river bank through a piecewise function, different forces are generated according to the level of collision danger.

[0095] As a preferred implementation method, the repulsive potential function between formations is:

[0096]

[0097] In the formula, $\eta > 0$ is the potential field coefficient, $X$ d $= ||p$ i $- p'$ j $|| - l$, which represents the difference between the position distance between the $i$-th unmanned boat and its neighbor unmanned boat in another formation and the hull length $l$ of the $i$-th unmanned boat, and $r_2$ is the critical distance between the $i$-th unmanned boat and its neighbor unmanned boat in another formation, which is a preset value; $X$ r $= ||p$ i $- p$ r $||$, which represents the position distance between the $i$-th unmanned boat and the virtual leader of its unmanned boat formation; $C$ repi represents the repulsive potential between formations; $N'$ i represents the total number of neighbor unmanned boats of the $i$-th unmanned boat in another unmanned boat formation;

[0098] Then the formation - to - formation control force of the $i$-th unmanned boat is:

[0099]

[0100] Among them, p i The unit vector pointing to p r ; p j ′ The unit vector pointing to p i ;

[0101] On the one hand, this solution takes into account the length of the unmanned boats in the formation, i.e., X d =||p 1i -p 2j ||-l, avoiding the situation where the hulls collide although the centroids of the hulls do not reach the same location. On the other hand, a formation target term is added to the potential field function, which ensures that while the unmanned boats in the two formations avoid colliding with each other, the unmanned boat formation effectively follows and tracks the target on the basis of formation control, which is reflected as the second term in U oi in oi .

[0102] Generally speaking, this embodiment discloses a method for a double unmanned boat formation to pass through a long and narrow straight channel, including: collecting the initial position p i of each unmanned boat in each unmanned boat formation and its speed v i , as well as the initial neighbor position p j of the unmanned boat in the unmanned boat formation and its speed v j , taking the average value of the initial positions of the unmanned boats in the formation as the initial position p r of the virtual leader of the formation, taking the preset target speed of the formation as the speed v r of the virtual leader of the formation, obtaining the formation control quantity U fi by using the improved flocking algorithm according to the above information; uniformly collecting 2m points on both sides of the channel, m points on each side of the channel, obtaining the position coordinates of each point, fitting the curve of the channel, obtaining the channel curve corresponding to each side of the channel, and further obtaining the coordinates p ic1 , p ic2 of the channel repulsion points corresponding to the unmanned boats; obtaining the repulsion force U ri of the river bank on the unmanned boat by using the piecewise function of the channel repulsion potential; collecting the current position p j ′ of each unmanned boat in the other formation in the unmanned boat formation, calculating the repulsion force U oi between the unmanned boat and its neighbor unmanned boat in the other formation according to the current position of the unmanned boat and the position of the neighbor unmanned boat in the other formation and the repulsion potential function between formations. Using the sum of the three obtained control quantities, updating the speed and position of the unmanned boat at the next moment according to the unmanned boat dynamics model, achieving the purpose of a double unmanned boat formation passing through a long and narrow straight channel.

[0103] Embodiment 2

[0104] A motion control system for a formation of two unmanned boats passing through a narrow channel, comprising a processor and a machine-readable storage medium. The machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the motion control method for a formation of two unmanned boats passing through a long and straight narrow channel as described above.

[0105] The related technical solutions are the same as those in Embodiment 1 and will not be elaborated here.

[0106] Embodiment 3

[0107] A computer-readable storage medium, the computer-readable storage medium includes a stored computer program, wherein when the computer program is run by a processor, it controls the device where the storage medium is located to execute the motion control method for a formation of two unmanned boats passing through a long and straight narrow channel as described above.

[0108] The related technical solutions are the same as those in Embodiment 1 and will not be elaborated here.

[0109] Those skilled in the art can easily understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A motion control method for a formation of two unmanned boats passing through a long, straight and narrow river channel, characterized in that Including: Based on the current position p of each unmanned boat in each unmanned boat formation in real time i and its speed v i , and the current positions p of each neighbor of the unmanned boat in the unmanned boat formation j and their speeds v j , combined with the current position p of the virtual leader of the formation where the unmanned boat is located r and the speed v r , calculate the formation control force U of the unmanned boat through an improved flocking algorithm fi ; Determine a point on each pre-determined side channel curve whose abscissa is the same as the abscissa of the current position of each unmanned boat as the repulsive point of the unmanned boat on each channel; based on the repulsive points on both sides of the channel corresponding to each unmanned boat, calculate the total repulsive force between the unmanned boat and the channel through the repulsive force potential piecewise function corresponding to each side channel as the channel control force U of the unmanned boat ri , where the repulsive force potential piecewise function is obtained by setting the safe distance and the dangerous distance between the unmanned boat and the river bank; Based on the current position p of each unmanned boat i and the position p' of its neighboring unmanned boats in another unmanned boat formation j , through the repulsive potential function between formations, calculate the total repulsive force between this unmanned boat and each of its neighboring unmanned boats in another unmanned boat formation, and use it as the inter-formation control force U of this unmanned boat oi ; Add the formation control force U fi of each unmanned boat, the channel control force U ri and the inter-formation control force U oi vectorially to obtain the total control amount of the unmanned boat, so as to update the speed and position of the unmanned boat at the next moment, and realize the motion control of the double-unmanned-boat formation passing through a long and straight narrow channel; Among them, the formation control force U of the i-th unmanned boat in each unmanned boat formation fi is calculated as follows: where m i is the mass of the i-th unmanned boat in each unmanned boat formation; α1 and α2 are formation control coefficients, given values; N i represents the total number of neighboring unmanned boats of the i-th unmanned boat in its formation; are all greater than 0; Φ α represents the α action function; p j represents the position of the j-th neighboring unmanned boat of the i-th unmanned boat in its unmanned boat formation; p i represents the position of the i-th unmanned boat; v j represents the speed of the j-th neighboring unmanned boat of the i-th unmanned boat in its unmanned boat formation; v i represents the speed of the i-th unmanned boat; c1, c2 are target tracking coefficients; p r represents the position of the virtual leader of the unmanned boat formation where the i-th unmanned boat is located; v r represents the speed of the virtual leader of the unmanned boat formation where the i-th unmanned boat is located, that is, the target speed of this formation; Φ α (x) = ρ h (x / ||R|| σ ) φ(x - ||d|| σ );x = ||p j -p i || σ In the formula, d is the expected distance between the unmanned boats in the formation when the formation is formed; R represents the critical distance between an unmanned boat in the unmanned boat formation and its neighbor in the same formation, both of which are given values; a ij ρ(p)=ρ h ρ(p) ∈ [0, 1], j ≠ i, p = ||p j - p i || σ / ||R|| σ ; In the formula, h ∈ (0, 1), which is a given value.

2. The motion control method according to claim 1, wherein The initial position of the virtual leader of each unmanned boat formation is the average of the initial positions of the unmanned boats in the unmanned boat formation. In each motion control, its position is updated through the dynamic model of the virtual leader; The speed of the virtual leader of each unmanned boat formation is the target speed of the unmanned boat formation, and the value is a preset fixed value.

3. The motion control method according to claim 1, wherein The river channel curve on each side of the river is constructed in the following way: m points on this side of the river are evenly collected to obtain the position coordinates of each point; the m points on each side of the river are curve-fitted to obtain the corresponding river channel curve on this side of the river.

4. The motion control method according to claim 1, wherein The repulsive potential piecewise function between the i-th unmanned boat and the repulsive point on the k-th side of the corresponding river channel is: where d saf is the safe distance of the river channel; d dan is the dangerous distance of the river channel; d saf ≥d dan , both are given values; X k = ||p i - p ick ||, p ick represents the repulsion point position of the i-th unmanned boat on the k-th side of the river channel, k represents the number of the two sides of the river channel, and the value is 1 or 2; λ1, λ2, and θ are all potential field coefficients, λ2 > λ1 > 0, θ > 0; C reri，k represents the repulsive force potential between the i-th unmanned boat and the repulsion point on the corresponding k-th side of the river channel; Then the river channel control force of the i-th unmanned boat 5. The motion control method according to claim 1, characterized in that The repulsive potential function between formations is: where η > 0 is the potential field coefficient, X d = ||p i - p′ j || - l, representing the difference between the position distance between the i-th unmanned boat and its neighboring unmanned boat in another formation and the hull length l of the i-th unmanned boat, r2 is the critical distance between the i-th unmanned boat and its neighboring unmanned boat in another formation, which is a preset value; X r = ||p i - p r ||, representing the position distance between the i-th unmanned boat and the virtual leader of the unmanned boat formation where it is located; C repi represents the repulsive potential between formations; N′ i represents the total number of neighboring unmanned boats of the i-th unmanned boat in another unmanned boat formation; Then the formation control force of the i-th unmanned boat 6. A motion control system for a double unmanned boat formation passing through a narrow channel, characterized in that, Including a processor and a machine-readable storage medium, the machine-readable storage medium stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement a motion control method for a double unmanned boat formation passing through a long and straight narrow river channel as described in any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein when the computer program is run by the processor, it controls the device where the storage medium is located to execute a motion control method for a double unmanned boat formation passing through a long and straight narrow river channel as described in any one of claims 1 to 5.

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