A Multi-Cluster Unmanned Boat Cluster Escort Method and System Based on Round Robin Scheduling

Abstract

The present invention discloses a multi-cluster unmanned boat cluster escort method and system based on round-robin scheduling, including: a preprocessing module, an interaction modeling module, and an escort processing module; the preprocessing module preprocesses a given plurality of clusters to ensure that the number of clusters is even, and groups the preprocessed clusters in pairs; the interaction modeling module models the information interaction between two clusters in each group as an undirected signed graph with structural balance, and establishes a directed communication graph from the leader to the unmanned boats within the cluster; the escort processing module constructs an escort plan based on round-robin scheduling according to a preset escort distance, determines the escort vector of each group, constructs an escort error and a sliding mode variable based on the escort information and the formation information within the cluster, and designs an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat. The present invention ensures that multiple clusters rotate around the leader for escorting evenly at different escort distances, thereby providing an efficient and reliable solution for the application of unmanned boat clusters in escort tasks.

Description

Technical Field

[0001] The present invention relates to the field of decision-making planning and cooperative control of unmanned boat clusters, and particularly to a multi-cluster unmanned boat cluster escort method and system based on round-robin scheduling. Background Art

[0002] The wide application of unmanned boats helps to maintain marine order, ensure the smoothness of key sea lanes, and provide a solid guarantee for marine safety. With the increase in marine activities and the diversification of security threats, the safety of unmanned boat clusters during maritime operations has become increasingly important. In this context, the unmanned boat cluster escort task is particularly important. Through cluster cooperation, unmanned boat clusters can efficiently execute escort tasks, improving the safety and reliability of maritime operations.

[0003] In the multi-cluster unmanned boat cluster escort task, in order to effectively protect the leader, a reasonable escort plan is to make multiple clusters symmetrically guard on both sides of the leader in pairs. However, how to make multiple clusters form pairs and maintain on the symmetric sides of the leader only relying on local information interaction is still an urgent problem to be solved. For this reason, the present invention proposes a multi-cluster unmanned boat cluster escort system and device based on round-robin scheduling to solve the above problems.

[0004] Existing research on the unmanned boat cluster escort problem, such as the improved null space formation maneuver control method for unmanned boat escort tasks (Liao Yulei, Ge Yu, Song Zhibin, Yu Wei, Wang Bo, Li Ye, Shi Changting, Liu Haibo. An improved null space formation maneuver control method for unmanned boat escort tasks, CN116203958A), mainly focuses on the formation escort of single-cluster clusters and obstacle avoidance during the formation process, without considering that in practice, unmanned boat clusters may appear in the form of multiple clusters; or the method and system for predicting the interception points of maritime threat targets for unmanned boat cluster escort (Xiao Zhenyu, Liao Yulei, Ren Zijia, Yu Wei, Shi Changting, Liu Haibo. Method and system for predicting the interception points of maritime threat targets for unmanned boat cluster escort, CN117173934A), mainly considers the interception of threat targets during navigation. However, in practice, unmanned boat clusters may escort the leader in a clustered form during navigation, and the unmanned boats transmit escort and formation information in the form of local information interaction, rather than centrally allocating and executing interception tasks. Summary of the Invention

[0005] Object of the Invention: The present invention provides a multi-cluster unmanned boat cluster escort method and system based on round-robin scheduling, which ensures that multiple clusters uniformly surround the leader for rotational escort at different escort distances, thereby providing an efficient and reliable solution for the application of unmanned boat clusters in escort tasks.

[0006] Technical solution: A multi-cluster unmanned boat cluster escort method based on round-robin scheduling according to the present invention includes the following steps:

[0007] Step 1, preprocess the given multiple clusters to ensure that the number of clusters is even, and group the preprocessed clusters in pairs;

[0008] Step 2, model the information interaction between two clusters in each group as an undirected signed graph with structural balance, and establish a directed communication graph from the leader to the unmanned boats within the cluster;

[0009] Step 3, construct an escort plan based on round-robin scheduling according to the preset escort distance, and determine the escort vector of each group;

[0010] Step 4, construct an escort error and a sliding mode variable based on the escort information and the formation information within the cluster;

[0011] Step 5, design an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat.

[0012] Further, in step 1, preprocessing the given multiple clusters to ensure that the number of clusters is even, and grouping the preprocessed clusters in pairs specifically includes the following steps:

[0013] Step 11, record the combat effectiveness of each cluster as the sum of the combat effectiveness of all unmanned boats within the cluster, and record the combat effectiveness of each cluster; if the initial number of clusters is odd, merge the two clusters with the lowest combat effectiveness to ensure that the number of clusters is even;

[0014] Step 12, the preprocessed clusters are respectively represented as labels 1,..., N, where N is even, and the combat effectiveness of each cluster is denoted as c i , and sort c i , i = 1,..., N from large to small. According to the order of combat effectiveness from large to small, every two clusters are grouped into one group, then the number of groups is N / 2, and the i-th group is denoted as where correspond to the sets of unmanned boats of two clusters respectively, n i is the total number of unmanned boats within the i-th group, n i1 , n i -n i1 are the numbers of unmanned boats within the two clusters of the group respectively. Note that the clusters corresponding to the groups with smaller indices have greater combat effectiveness.

[0015] Further, in step 2, modeling the information interaction between two clusters in each group as an undirected signed graph with structural balance, and establishing a directed communication graph from the leader to the unmanned boats within the cluster specifically includes the following steps:

[0016] Step 21, for the i-th group Model the information interaction of all unmanned boats in the formation as an undirected connected graph, and use the adjacency matrix to describe the information interaction of the unmanned boats in the formation. If unmanned boat and unmanned boat communicate with each other and are in the same cluster, then If unmanned boat and unmanned boat communicate with each other but are not in the same cluster, then Otherwise, Ensure that the information interaction graph of two clusters in each formation is a structurally balanced undirected signed graph through this modeling method;

[0017] Step 22: For the i-th formation Establish a directed communication graph from the leader to the unmanned boats in the cluster, ensuring that there are two unmanned boats in the formation, which come from different clusters and communicate with each other. In addition, both of these two unmanned boats can receive the information from the leader. If unmanned boat receives the information sent by the leader, then record Otherwise

[0018] Furthermore, in step 3, according to the preset escort distance, construct an escort plan based on round-robin scheduling, and determine the escort vector of each group, which specifically includes the following steps:

[0019] Step 31: The leader sets the escort distances ρ1 and ρ2, where ρ1 < ρ2. Draw two circles with the leader as the center and ρ1 and ρ2 as the radii, and allocate the first formations inside the inner circle, that is, allocate the clusters with greater combat effectiveness inside the inner circle, where the symbol represents rounding down; allocate the remaining formations outside the outer circle, that is, allocate the clusters with poorer combat effectiveness outside the outer circle to play a role in detecting threats;

[0020] Step 32: In order to determine the escort vector of each formation, let N2 = N / 2 - N1, calculate the angle Then the escort plan based on round-robin scheduling is designed as:

[0021]

[0022] where χ i is the escort vector of the i-th formation, i = 1,..., N / 2, θ2 and θ1 are the angular velocities of the unmanned boats rotating on the inner and outer circles. Based on this escort plan, ensure that the clusters on the inner and outer circles rotate around the leader for escort evenly.

[0023] Furthermore, in step 4, based on the escort information and the formation information within the cluster, construct the escort error and the sliding mode variable, which specifically includes the following steps:

[0024] Step 41. For the \(i\)-th group Define And define Let the position and heading angle vector of the unmanned boat in this group be The corresponding speed is That is Then the escort error of the unmanned boat is defined as

[0025]

[0026] Where describes the time-varying formation configuration of the unmanned boats in the corresponding cluster, is the time derivative corresponding to \(\eta_0\) is the position and heading angle vector of the leader, and \(\zeta_0\) is the speed vector corresponding to the leader, that is

[0027] Step 42. According to the escort information and formation information, construct auxiliary escort and formation error variables. The specific construction method is as follows:

[0028]

[0029] Where is the communication neighbor set of the unmanned boat in the set \(V\) l i \(l = 1, 2\). In particular, if then \(l = 1\), otherwise, \(l = 2\);

[0030] Step 43. Construct the escort sliding mode variable

[0031]

[0032] Furthermore, in step 5, according to the dynamic and kinematic models of the unmanned boats, design an escort controller for each unmanned boat, which specifically includes the following steps:

[0033] Step 51. The dynamic model of the unmanned boat is expressed in the earth coordinate system as:

[0034]

[0035] Where represents the position of the unmanned boat represents the heading angle, represents the speed vector of the unmanned boat in the earth coordinate system, is the rotation matrix is the time derivative of the rotation matrix, M ij is the inertia matrix of the unmanned surface vehicle, is the system torque, is the control input;

[0036] Step 52, the escort controller of the unmanned surface vehicle is designed as follows:

[0037]

[0038] where α is a sufficiently large control gain, i = 1,..., N / 2, j = 1,.., n i .

[0039] Correspondingly, a multi-cluster unmanned surface vehicle cluster escort system based on round-robin scheduling includes: a preprocessing module, an interaction modeling module, and an escort processing module; the preprocessing module preprocesses the given multiple clusters to ensure that the number of clusters is even and groups the preprocessed clusters in pairs; the interaction modeling module models the information interaction between two clusters in each group as an undirected signed graph with structural balance and establishes a directed communication graph from the leader to the unmanned surface vehicles within the cluster; the escort processing module constructs an escort plan based on round-robin scheduling according to the preset escort distance and determines the escort vector for each group, constructs an escort error and a sliding mode variable based on the escort information and the in-cluster formation information, and designs an escort controller for each unmanned surface vehicle according to the dynamics and kinematics models of the unmanned surface vehicle.

[0040] Beneficial effects: Compared with the prior art, the present invention has the following remarkable advantages: (1) The present invention uses a signed graph with structural balance to model the information interaction between unmanned surface vehicles, so that the clusters grouped in pairs can symmetrically operate on both sides of the leader, thereby achieving the purpose of escort; (2) The present invention considers the cluster escort of the cluster and designs a round-robin escort plan, so that multiple clusters uniformly rotate around the leader at different escort distances for escort, thereby realizing multi-directional escort of the leader. Brief Description of the Drawings

[0041] Figure 1 is a schematic flow chart of the method of the present invention.

[0042] Figure 2 is a schematic diagram of the escort plan based on round-robin scheduling of the present invention.

[0043] Figure 3 is the information interaction graph of the signed graph modeling of the present invention.

[0044] Figure 4 is a schematic diagram of the unmanned surface vehicle motion trajectory generated by the multi-cluster unmanned surface vehicle cluster escort controller of the present invention.

[0045] Figure 5Schematic diagram of the escort position error generated by the multi-cluster unmanned boat cluster escort controller of the present invention.

[0046] Figure 6 Schematic diagram of the escort speed error generated by the multi-cluster unmanned boat cluster escort controller of the present invention. Detailed implementation manners

[0047] As Figure 1 shown, a multi-cluster unmanned boat cluster escort method based on round-robin scheduling includes the following steps:

[0048] Step 1, preprocess the given multiple clusters to ensure that the number of clusters is even, and group the preprocessed clusters in pairs;

[0049] Step 2, model the information interaction between two clusters in each group as an undirected signed graph with structural balance, and establish a directed communication graph from the leader to the unmanned boats within the cluster;

[0050] Step 3, construct an escort plan based on round-robin scheduling according to the preset escort distance, and determine the escort vector of each group;

[0051] Step 4, construct the escort error and the sliding mode variable based on the escort information and the formation information within the cluster;

[0052] Step 5, design an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat.

[0053] Furthermore, in Step 1, for the escort goal, the number of clusters must be even. Therefore, for the case where the number of initial clusters is odd, the clusters need to be preprocessed. Specifically as follows:

[0054] Step 11, record the combat effectiveness of each cluster as the sum of the combat effectiveness of all unmanned boats within the cluster, and record the combat effectiveness of each cluster; if the number of initial clusters is odd, merge the two clusters with the smallest combat effectiveness to ensure that the number of clusters is even.

[0055] Step 12, the preprocessed clusters are respectively denoted as labels 1,..., N, where N is even, and the combat effectiveness of each cluster is denoted as c i , and sort c i , i = 1,..., N from large to small. According to the order of combat effectiveness from large to small, every two clusters are grouped into one group, and the number of groups is N / 2. The i-th group is denoted as where respectively correspond to the sets of unmanned boats of the two clusters, n i is the total number of unmanned boats within the i-th group, n i1 , n i -n i1They are the numbers of the unmanned boats in two clusters within the formation respectively. Note that the combat effectiveness of the cluster corresponding to the formation with a smaller index is greater.

[0056] In step 2, the information interaction between two clusters within each formation is modeled as an undirected signed graph with structural balance, and a directed communication graph from the leader to the unmanned boats within the cluster is established. The modeling process is as follows:

[0057] Step 21: For the i-th formation Model the information interaction of all unmanned boats within the formation as an undirected connected graph, and use the adjacency matrix to describe the information interaction of the unmanned boats within the formation. If the unmanned boat and the unmanned boat can communicate with each other and are within the same cluster, then If the unmanned boat and the unmanned boat can communicate with each other but are not within the same cluster, then Otherwise, Through this modeling method, it can be ensured that the information interaction graph between two clusters within each formation is an undirected signed graph with structural balance.

[0058] Step 22: For the i-th formation Establish a directed communication graph from the leader to the unmanned boats within the cluster, ensuring that there are two unmanned boats within the formation. These two unmanned boats come from different clusters and can communicate with each other. In addition, both of these two unmanned boats can receive the information from the leader. If the unmanned boat v l i can receive the information sent by the leader, then record Otherwise

[0059] In step 3, according to the preset escort distance, construct an escort plan based on round-robin scheduling, and determine the escort vector of each group. The escort plan and escort vector are designed as follows:

[0060] Step 31: The leader sets the escort distances ρ1 and ρ2, where ρ1 < ρ2. With the leader as the center, draw two circles with ρ1 and ρ2 as the radii, and allocate the first formations inside the inner circle, that is, allocate the clusters with greater combat effectiveness inside the inner circle, where the symbol represents rounding down; allocate the remaining formations outside the outer circle, that is, allocate the clusters with poorer combat effectiveness outside the outer circle to play the role of detecting threats.

[0061] Step 32: In order to determine the escort vector of each formation, let N2 = N / 2 - N1, calculate the angle Then the escort plan based on round-robin scheduling is designed as:

[0062]

[0063] where χ i is the escort vector of the i-th group, i = 1, ..., N / 2, and θ2, θ1 are the angular velocities of the unmanned boats rotating on the inner and outer circles. The schematic diagram of the escort scheme based on rotation scheduling is as shown in Figure 2 Figure []. Based on this escort scheme, it can be ensured that the clusters on the inner and outer circles uniformly rotate around the leader for escort.

[0064] In step 4, based on the escort information and the formation information within the cluster, the escort error and the sliding mode variable are constructed. The specific construction is as follows:

[0065] Step 41. For the i-th group Define and define Let the position and heading angle vector of the unmanned boat in this group be and the corresponding speed be That is Then the escort error of the unmanned boat is defined as

[0066]

[0067] where describes the time-varying formation configuration of the unmanned boats within the corresponding cluster, is the time derivative corresponding to , η0 is the position and heading angle vector of the leader, and ζ0 is the speed vector corresponding to the leader, that is

[0068] Step 42. According to the escort information and the formation information, auxiliary escort and formation error variables are constructed. The specific construction method is as follows:

[0069]

[0070] where is the communication neighbor set of the unmanned boat in the set V l i . Specifically, if then l = 1, otherwise, l = 2.

[0071] Step 43. Construct the escort sliding mode variable

[0072]

[0073] In step 5, according to the dynamic and kinematic models of the unmanned boats, an escort controller is designed for each unmanned boat. The analysis of the dynamic and kinematic models of the unmanned boats and the controller design are as follows:

[0074] Step 51, The dynamic model of the unmanned boat is expressed in the geodetic coordinate system as:

[0075]

[0076] where represents the position of the unmanned boat , represents the heading angle, represents the velocity vector of the unmanned boat in the geodetic coordinate system, is the rotation matrix, is the time derivative of the rotation matrix, M ij is the inertia matrix of the unmanned boat, is the system torque, is the control input;

[0077] Step 52, The escort controller of the unmanned boat is designed as follows:

[0078]

[0079] where α is a sufficiently large control gain, i = 1,..., N / 2, j = 1,.., n i .

[0080] Correspondingly, a multi-cluster unmanned boat cluster escort system based on round-robin scheduling includes: a preprocessing module, an interaction modeling module, and an escort processing module; the preprocessing module preprocesses the given multiple clusters to ensure that the number of clusters is even and groups the preprocessed clusters in pairs; the interaction modeling module models the information interaction between two clusters in each group as an undirected signed graph with structural balance and establishes a directed communication graph from the leader to the unmanned boats within the cluster; the escort processing module constructs an escort plan based on round-robin scheduling according to the preset escort distance and determines the escort vector for each group, constructs an escort error and a sliding mode variable based on the escort information and the in-cluster formation information, and designs an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat.

[0081] In this embodiment, MATLAB 2022a is used as the simulation calculation software to simulate the multi-cluster unmanned boat cluster escort scenario, and the multi-cluster unmanned boat cluster escort system and device of the present invention are used for simulation.

[0082] In this embodiment, there are 4 clusters, and there are 5 unmanned boats in each cluster. Among them, the 1st cluster and the 2nd cluster are grouped and denoted as The escort distance is set to ρ1 = 30, and the 3rd cluster and the 4th cluster are grouped and denoted as The escort distance is set to ρ2 = 50, and the escort vectors of the two formations are

[0083]

[0084] The initial state of the leader is η0(0) = [0, 0, 0] T , and the dynamics of the leader are where υ0 = [1, 2, -0.01] T . The formation vectors of the unmanned boats within the formation are

[0085]

[0086]

[0087] where a = 4, b = 0.01.

[0088] Figure 3 The information interaction diagram between the leader and the unmanned boats within the two formations is given.

[0089] Figure 4 The schematic diagram of the motion trajectory of the unmanned boats generated by the designed multi-cluster unmanned boat cluster escort controller is given. It can be seen from Figure 4 that under the designed multi-cluster unmanned boat cluster escort controller, the leader is at the center of all clusters, effectively achieving the escort goal.

[0090] Figure 5 The schematic diagram of the escort position error generated by the designed multi-cluster unmanned boat cluster escort controller is given. It can be seen that the escort position error finally tends to zero.

[0091] Figure 6 The schematic diagram of the escort speed error generated by the designed multi-cluster unmanned boat cluster escort controller is given. It can be seen that the escort speed error finally tends to zero.

[0092] It can be clearly seen from the above simulation results that a multi-cluster unmanned boat cluster escort system and device based on round-robin scheduling proposed by the present invention can achieve effective escort of the multi-cluster unmanned boat cluster.

[0093] In summary, a multi-cluster unmanned boat cluster escort system and device based on round-robin scheduling of the present invention can ensure that multiple clusters rotate around the leader for escort at different escort distances uniformly, thereby providing an efficient and reliable solution for the application of unmanned boat clusters in escort tasks.

Claims

1. A multi-cluster unmanned boat cluster escort method based on round-robin scheduling, characterized in that It includes the following steps: Step 1: Preprocess the given multiple clusters to ensure that the number of clusters is even, and group the preprocessed clusters in pairs; specifically, it includes the following steps: Step 11: Record the combat power of each cluster, which is the sum of the combat powers of all unmanned boats within the cluster. If the number of initial clusters is odd, merge the two clusters with the smallest combat powers to ensure that the number of clusters is even; Step 12: The clusters after preprocessing are respectively denoted as labels 1,..., N, where N is an even number, and the combat power of each cluster is denoted as c i , sort c i , i = 1,..., N from largest to smallest. In the order of combat power from largest to smallest, every two clusters are grouped into one group, so the number of groups is N / 2, and the i-th group is denoted as where correspond to the unmanned boat sets of two clusters respectively, n i is the total number of unmanned boats in the i-th group, n i1 , n i -n i1 are the numbers of unmanned boats in the two clusters within the group respectively. Note that the clusters corresponding to the groups with smaller indices have greater combat power; Step 2: Model the information interaction between two clusters within each group as an undirected signed graph with structural balance, and establish a directed communication graph from the leader to the unmanned boats within the cluster; Step 3: Construct an escort plan based on round-robin scheduling according to the preset escort distance, and determine the escort vector for each group; Step 4: Construct an escort error and a sliding mode variable based on the escort information and the formation information within the cluster; Step 5: Design an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat; 2. The multi-cluster unmanned boat cluster escort method based on round-robin scheduling according to claim 1, wherein, In Step 2, modeling the information interaction between two clusters within each group as an undirected signed graph with structural balance and establishing a directed communication graph from the leader to the unmanned boats within the cluster specifically includes the following steps: Step 21: The clusters after preprocessing are respectively represented by labels 1,..., N, where N is an even number, and the combat power of each cluster is denoted as c i , sort c i , i = 1,..., N from largest to smallest. In the order of combat power from largest to smallest, every two clusters are grouped into one group, so the number of groups is N / 2, and the i-th group is denoted as For the i-th group Model the information interaction of all unmanned boats within the group as an undirected connected graph, and use the adjacency matrix to describe the information interaction of unmanned boats within the group. If unmanned boat and unmanned boat communicate with each other and are in the same cluster, then If unmanned boat and unmanned boat communicate with each other but are not in the same cluster, then Otherwise,[[]] Ensure that the information interaction graph of two clusters within each group is a structurally balanced undirected signed graph through this modeling method; Step 22: For the i-th group Establish a directed communication graph from the leader to the unmanned boats within the cluster, ensuring that there are two unmanned boats within the group. These two unmanned boats are from different clusters and communicate with each other. In addition, both of these unmanned boats can receive information from the leader. If the unmanned boat receives the information sent by the leader, then record Otherwise 3. The multi-cluster unmanned boat cluster escort method based on round-robin scheduling according to claim 1, wherein, In Step 3, constructing an escort plan based on round-robin scheduling according to the preset escort distance and determining the escort vector for each group specifically includes the following steps: Step 31, the leader sets the escort distances ρ1 and ρ2, where ρ1 < ρ2. Taking the leader as the center, two circles are drawn with ρ1 and ρ2 as the radii. The first groups are assigned on the inner circle, that is, the clusters with greater combat power are assigned on the inner circle, where the symbol represents rounding down. The clusters after preprocessing are respectively represented by labels 1,..., N, where N is an even number; the remaining groups are assigned on the outer circle, that is, the clusters with poorer combat power are assigned on the outer circle to play a role in detecting threats; Step 32. To determine the escort vector of each group, let N2 = N / 2 - N1, and calculate the angle Then the escort plan design based on round-robin scheduling is as follows: where χ i is the escort vector of the i-th group, i = 1, ..., N / 2, is the angular velocity of the rotation of the unmanned boats on the inner and outer circles. Based on this escort scheme, it is ensured that the clusters on the inner and outer circles rotate around the leader evenly for escort.

4. The multi-cluster unmanned boat cluster escort method based on round-robin scheduling according to claim 3, characterized in that, In Step 4, constructing an escort error and a sliding mode variable based on the escort information and the formation information within the cluster specifically includes the following steps: Step 41: The clusters after preprocessing are respectively denoted as labels 1,..., N, where N is an even number, and the combat power of each cluster is denoted as c i , sort c i , i = 1,..., N from large to small. According to the order of combat power from large to small, every two clusters are grouped into one group, so the number of groups is N / 2, and the i-th group is denoted as For the i-th group Define And define Suppose the position and heading angle vector of the unmanned boat in this group is and the corresponding speed is That is Then the escort error of the unmanned boat is defined as Among them describes the time-varying formation configuration of the unmanned boats within the corresponding cluster, is the time derivative corresponding to η0 is the position and heading angle vector of the leader, and ζ0 is the velocity vector corresponding to the leader, that is Step 42: Construct an auxiliary escort and formation error variable according to the escort information and the formation information. The specific construction method is as follows: Among them is an unmanned boat in the set V l i in the communication neighbor set, where l = 1, 2. If then l = 1, otherwise, l = 2; Step 43: Construct an escort sliding mode variable 5. The multi-cluster unmanned boat cluster escort method based on round-robin scheduling according to claim 1, wherein, In Step 5, designing an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat specifically includes the following steps: Step 51, unmanned boat The dynamic model of which is expressed in the geodetic coordinate system as: Among them represents the position of the unmanned boat of, indicates the heading angle, represents the unmanned boat in the velocity vector in the geodetic coordinate system, is the rotation matrix, is the time derivative of the rotation matrix, M ij is the inertia matrix of the unmanned boat, is the system torque, is the control input, and the preprocessed clusters respectively represent the markers 1,..., N, where N is even; Step 52, Unmanned boat The escort controller is designed as follows: where α is a control gain that is sufficiently large, i = 1, ..., N / 2, j = 1, .., n i .

6. A system for implementing the multi-cluster unmanned boat cluster escort method based on round-robin scheduling as described in claim 1, characterized in that, It includes: A preprocessing module, an interaction modeling module, and an escort processing module; The preprocessing module preprocesses the given multiple clusters to ensure that the number of clusters is even, and groups the preprocessed clusters in pairs; The interaction modeling module models the information interaction between two clusters within each group as an undirected signed graph with structural balance, and establishes a directed communication graph from the leader to the unmanned boats within the cluster; the escort processing module constructs an escort plan based on round-robin scheduling according to the preset escort distance, and determines the escort vector for each group, constructs an escort error and a sliding mode variable based on the escort information and the formation information within the cluster, and designs an escort controller for each unmanned boat according to the dynamic and kinematic models of the unmanned boat.

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