Cooperative working method and device of dual unmanned boats based on urgency priority control

Abstract

The present application provides a method and device for the collaborative work of two unmanned boats based on urgency priority regulation. The method guides the two unmanned boats to collaboratively perform the target task according to the target navigation path of the virtual navigator of the two unmanned boats. During the execution process, the navigation speed of the inner unmanned boat and the distance between the two boats are monitored in real time, and the maximum curvature of the inner and outer unmanned boats is calculated accordingly. According to the maximum curvature of the inner and outer unmanned boats at the current navigation position and the curvature of the next path point, it is judged whether the expected distance needs to be adjusted. If there is no need to adjust the expected distance, the urgency of maintaining the lateral and longitudinal distances is calculated, and the urgency of maintaining the lateral and longitudinal distances is used to determine the priority of behaviors such as target pursuit, lateral distance maintenance and longitudinal distance maintenance, thereby realizing dynamic adjustment of behavior priority according to real-time navigation conditions, improving the flexibility and adaptability of formation control, and improving execution efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of cooperative control of unmanned aerial vehicles, and in particular to a method and device for cooperative working of two unmanned boats based on urgency priority regulation. Background Art

[0002] In recent years, the collaborative operation technology of multiple unmanned boats has shown obvious efficiency advantages in tasks such as dealing with offshore oil spill accidents, dismantling offshore platforms, and encircling surface targets. The collaborative formation method of multiple unmanned boats is the key to the collaborative technology of multiple unmanned boats. Good multi-unmanned boat formation control capability can ensure that multiple unmanned boats can complete tasks efficiently and safely in the desired formation form. In order to ensure that the dual unmanned boat collaborative system can perform target encirclement tasks in the desired formation, it is necessary to consider the priority of different behaviors in the formation control. However, the current consideration of behavior priority is based on a fixed order, which cannot adapt to the dynamic changes in actual navigation conditions. Summary of the invention

[0003] The embodiments of the present application provide a method and device for collaborative working of two unmanned boats based on urgency priority regulation.

[0004] According to a first aspect of the present application, a method for collaborative working of two unmanned boats based on urgency priority regulation is provided, the method comprising:

[0005] Acquire a target navigation path for a virtual navigator of two unmanned boats to perform a target task, the two unmanned boats comprising an inner unmanned boat inside the virtual navigator and an outer unmanned boat outside the virtual navigator, the target navigation path comprising a plurality of path points and a curvature of each path point;

[0006] Controlling the inner unmanned boat and the outer unmanned boat to perform the target mission according to the target navigation path;

[0007] During the process of the inner unmanned boat and the outer unmanned boat performing the target mission, monitoring the inner navigation speed of the inner unmanned boat and the unmanned boat distance between the inner unmanned boat and the outer unmanned boat;

[0008] When a turn is required at the next path point of the current navigation position, determining the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed and the unmanned boat maximum navigation speed;

[0009] Determining whether it is necessary to change the expected spacing between the unmanned boats of the dual unmanned boats according to the inner maximum curvature, the outer maximum curvature and the curvature of the next path point of the current navigation position;

[0010] Without changing the expected spacing between the unmanned boats, calculating the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance of the two unmanned boats, and determining the priority of the target pursuit behavior, the lateral distance maintenance behavior, and the longitudinal distance maintenance behavior according to the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance;

[0011] According to the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior, the expected speed of the unmanned boat is calculated by a zero space behavior fusion method, and the unmanned boat is controlled to navigate at the expected speed of the unmanned boat.

[0012] According to an embodiment of the present application, determining the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed and the maximum navigation speed of the unmanned boat includes:

[0013] The medial maximum curvature is calculated according to the following formula: ,in, is the maximum inner curvature, The minimum turning radius of the inner unmanned boat;

[0014] The maximum outer curvature is calculated according to the following formula: ,in, is the maximum curvature of the outer side, The distance between unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed.

[0015] According to an embodiment of the present application, determining whether it is necessary to change the expected spacing between the unmanned boats of the two unmanned boats according to the inner maximum curvature, the outer maximum curvature and the curvature of the next path point of the current navigation position includes:

[0016] When the curvature of the next path point of the current navigation position meets one of the following conditions, it is determined that the expected spacing of the unmanned boat needs to be changed:

[0017] The curvature of the next path point of the current navigation position is smaller than the maximum curvature on the inner side and larger than the maximum curvature on the outer side;

[0018] The curvature of the next path point of the current navigation position is greater than the maximum curvature on the inner side and less than the maximum curvature on the outer side;

[0019] The curvature of the next path point of the current navigation position is greater than the inner maximum curvature and greater than the outer maximum curvature.

[0020] According to an embodiment of the present application, the step of calculating the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance of the two unmanned boats includes:

[0021] The lateral distance maintenance urgency is calculated by the following formula: ,in, To maintain urgency for horizontal distance, is the horizontal coordinate of the virtual navigator, is the vertical coordinate of the virtual navigator, is the horizontal coordinate of the end point of the target navigation path, is the ordinate of the end point of the target navigation path, is the current lateral distance between the two unmanned boats, The maximum error allowed for the lateral distance between two unmanned boats;

[0022] The longitudinal distance maintenance urgency is calculated by the following formula: ,in, To maintain urgency for vertical distance, is the horizontal coordinate of the obstacle closest to the virtual navigator, is the ordinate of the obstacle closest to the virtual navigator, is the longitudinal distance error between the two unmanned boats, The maximum error allowed for the longitudinal distance between two unmanned boats;

[0023] in, Calculated by the following formula: , is the length of the flexible connection between the two unmanned boats, r is the expected distance between the unmanned boats, is the adjustment coefficient of the maximum error of the lateral distance between the two unmanned boats;

[0024] Calculated by the following formula: , L is the length of the unmanned boat, It is the adjustment coefficient of the maximum error of the longitudinal distance between the two unmanned boats.

[0025] According to an embodiment of the present application, determining the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior, and the longitudinal distance keeping behavior according to the lateral distance keeping urgency and the longitudinal distance keeping urgency includes:

[0026] Determine the behavior priority of the target pursuit behavior as the first priority;

[0027] In the case where the lateral distance keeping urgency is greater than the longitudinal distance keeping urgency, determining the behavior priority of the lateral distance keeping behavior as the second priority, and determining the behavior priority of the longitudinal distance keeping behavior as the third priority;

[0028] In the case where the lateral distance keeping urgency is lower than the longitudinal distance keeping urgency, the behavior priority of the longitudinal distance keeping behavior is determined to be the second priority, and the behavior priority of the lateral distance keeping behavior is determined to be the third priority.

[0029] According to an embodiment of the present application, the method further includes:

[0030] In the case where the expected distance between the unmanned boats needs to be changed, the behavior priority of determining the target pursuit behavior is the first priority, the behavior priority of determining the lateral distance keeping behavior is the second priority, and the behavior priority of determining the longitudinal distance keeping behavior is the third priority.

[0031] According to an embodiment of the present application, the method further includes:

[0032] In the case where the expected distance between the unmanned boats needs to be changed, determining the updated expected distance between the two unmanned boats according to the distance between the unmanned boats, the inner navigation speed, the maximum navigation speed of the unmanned boats, and the curvature of the next path point of the current navigation position;

[0033] Control the two unmanned boats to modify the distance between the unmanned boats to update the expected distance between the unmanned boats.

[0034] According to an embodiment of the present application, determining the updated expected unmanned boat spacing of the two unmanned boats according to the unmanned boat spacing, the inner navigation speed, the maximum navigation speed of the unmanned boat, and the curvature of the next path point of the current navigation position includes:

[0035] Calculating the outer minimum turning radius of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed, and the maximum navigation speed of the unmanned boat, and obtaining the inner minimum turning radius of the inner unmanned boat;

[0036] Determine that the larger value between the outer minimum turning radius and the inner minimum turning radius is the minimum turning radius of the double unmanned boat;

[0037] When the curvature of the next path point of the current navigation position is greater than the maximum inner curvature and less than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: ,in, To update the expected spacing of unmanned boats, is the curvature of the next path point of the current navigation position, The minimum turning radius of the dual unmanned boat;

[0038] When the curvature of the next path point of the current navigation position is less than the maximum inner curvature and greater than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: ,in, To update the expected spacing of unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed;

[0039] When the curvature of the next path point of the current navigation position is greater than the maximum inner curvature and greater than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: .

[0040] According to a second aspect of the present application, a dual unmanned boat collaborative working device based on urgency priority regulation is provided, the device comprising:

[0041] an acquisition module, used for acquiring a target navigation path for a virtual navigator of two unmanned boats to perform a target task, the two unmanned boats comprising an inner unmanned boat inside the virtual navigator and an outer unmanned boat outside the virtual navigator, the target navigation path comprising a plurality of path points and a curvature of each path point;

[0042] A control module, used for controlling the inner unmanned boat and the outer unmanned boat to perform the target mission according to the target navigation path;

[0043] A monitoring module, used for monitoring the inner navigation speed of the inner unmanned boat and the unmanned boat distance between the inner unmanned boat and the outer unmanned boat during the process of the inner unmanned boat and the outer unmanned boat performing the target mission;

[0044] A first determination module is used to determine the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed and the maximum navigation speed of the unmanned boat when a turn is required at the next path point of the current navigation position;

[0045] A second determination module is used to determine whether it is necessary to change the expected spacing between the unmanned boats of the dual unmanned boats according to the inner maximum curvature, the outer maximum curvature and the curvature of the next path point of the current navigation position;

[0046] A third determination module is used to calculate the lateral distance maintenance urgency and the longitudinal distance maintenance urgency of the two unmanned boats without changing the expected distance between the unmanned boats, and determine the behavior priorities of the target pursuit behavior, the lateral distance maintenance behavior and the longitudinal distance maintenance behavior according to the lateral distance maintenance urgency and the longitudinal distance maintenance urgency;

[0047] A calculation module is used to calculate the expected speed of the unmanned boat through a zero-space behavior fusion method according to the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior, and control the unmanned boat to navigate at the expected speed of the unmanned boat.

[0048] According to one embodiment of the present application, the device further includes:

[0049] The fourth determination module is used to determine the behavior priority of the target pursuit behavior as the first priority, the behavior priority of the lateral distance keeping behavior as the second priority, and the behavior priority of the longitudinal distance keeping behavior as the third priority when the expected distance between the unmanned boats needs to be changed.

[0050] According to a third aspect of the present application, an electronic device is provided, including:

[0051] at least one processor; and

[0052] a memory communicatively connected to the at least one processor; wherein,

[0053] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the present application.

[0054] According to a fourth aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described in the present application.

[0055] The method of the embodiment of the present application guides the two unmanned boats to collaboratively perform the target task according to the target navigation path of the virtual navigator of the two unmanned boats. During the execution process, the navigation speed of the inner unmanned boat and the distance between the two boats are monitored in real time, and the maximum curvature of the inner and outer unmanned boats is calculated accordingly. In order to determine whether the expected distance needs to be adjusted according to the maximum curvature of the inner and outer unmanned boats at the current navigation position and the curvature of the next path point, if the expected distance does not need to be adjusted, the urgency of maintaining the lateral and longitudinal distances is calculated, and the urgency of maintaining the lateral and longitudinal distances is used to determine the priority of behaviors such as target pursuit, lateral distance maintenance and longitudinal distance maintenance, thereby realizing dynamic adjustment of behavior priority according to real-time navigation conditions, improving the flexibility and adaptability of formation control, and improving execution efficiency.

[0056] It should be understood that the teachings of the present application are not required to achieve all of the beneficial effects described above, but specific technical solutions can achieve specific technical effects, and other embodiments of the present application can also achieve beneficial effects not mentioned above. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easily understood. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, wherein:

[0058] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0059] Figure 1 A schematic diagram of the implementation process of the dual unmanned boat collaborative working method based on urgency priority control provided in an embodiment of the present application is shown;

[0060] Figure 2 An example diagram showing a method for cooperating with two unmanned boats based on urgency priority regulation provided by an embodiment of the present application, when two unmanned boats follow a virtual navigator to perform a target task;

[0061] Figure 3 An example diagram showing the lateral and longitudinal distances of the dual unmanned boat collaborative working method based on urgency priority regulation provided by an embodiment of the present application is shown;

[0062] Figure 4 A schematic diagram of the composition structure of a dual unmanned boat cooperative working device based on urgency priority regulation provided in an embodiment of the present application is shown;

[0063] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0064] In order to make the purpose, features, and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0065] Figure 1 A schematic diagram of the implementation process of the dual unmanned boat collaborative working method based on urgency priority control provided in an embodiment of the present application is shown.

[0066] refer to Figure 1 The embodiment of the present application provides a method for cooperating two unmanned boats based on urgency priority control, the method comprising:

[0067] Operation 101 is to obtain a target navigation path for a virtual navigator of two unmanned boats to perform a target mission. The two unmanned boats include an inner unmanned boat inside the virtual navigator and an outer unmanned boat outside the virtual navigator. The target navigation path includes a plurality of path points and a curvature of each path point.

[0068] In the scenario of collaborative operation of two unmanned boats, the concept of the virtual navigator is to provide a series of waypoints so that the two unmanned boats can collaboratively navigate according to the desired formation and path, that is, to distribute the two unmanned boats on the inside and outside of the virtual navigator to track a series of waypoints of the virtual navigator.

[0069] A series of path points of the virtual navigator constitute the target navigation path of this target mission, which can be determined based on the ocean offline map and the commonly used path planning algorithm. For example, the initial location, end point and ocean offline map of this target mission are input into the path planning algorithm to obtain the target navigation path of this target mission. The target navigation path also includes the curvature of each path point and the obstacles at each path point.

[0070] In one embodiment of the present application, the target mission includes but is not limited to capture, tracking, search and rescue, and salvage, and there is a flexible connection between the two unmanned boats, namely the oil boom.

[0071] For example, see Figure 2 , Figure 2 An example diagram of a dual unmanned boat following a virtual navigator to perform a target task in a dual unmanned boat collaborative working method based on urgency priority regulation provided by an embodiment of the present application is shown, where USV1 is an outer unmanned boat and USV2 is an inner unmanned boat. After determining the target navigation path, i.e., the path of the virtual navigator, USV1 and USV2 can be controlled to follow the virtual navigator to perform the target task.

[0072] Operation 102: Control the inner unmanned boat and the outer unmanned boat to perform a target mission according to a target navigation path.

[0073] After determining the target navigation path of the virtual navigator of the dual unmanned boats, the dual unmanned boats are controlled to perform the target mission, which is to track a series of path points shown in the target navigation path.

[0074] Operation 103 , while the inner unmanned boat and the outer unmanned boat are performing the target mission, monitor the inner navigation speed of the inner unmanned boat and the unmanned boat distance between the inner unmanned boat and the outer unmanned boat.

[0075] During the process of the dual unmanned boats performing the target mission, the dual unmanned boats need to be adjusted in real time. Therefore, it is also necessary to monitor the inner navigation speed of the inner unmanned boat and the distance between the two unmanned boats in real time.

[0076] Operation 104 , when a turn is required at the next path point of the current navigation position, the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat are determined according to the distance between the unmanned boats, the inner navigation speed and the maximum navigation speed of the unmanned boats.

[0077] The coordination of two unmanned boats is different from that of a single unmanned boat. The control of two unmanned boats when turning is particularly important. When the two unmanned boats turn, ensuring that the two unmanned boats can follow the trajectory of the virtual navigator can be regarded as that the expected curvature of the two unmanned boats can follow the curvature of the target navigation path.

[0078] Therefore, during the execution of the target mission, when a turn is required at the next path point of the current navigation position, the maximum curvature of the inner and outer unmanned boats is also obtained in real time to ensure that the maximum curvature of the inner and outer sides is less than the curvature of the path point where navigation is required, and the curvature of the path point where navigation is required can be regarded as the curvature of the next path point of the current navigation position.

[0079] Operation 105 : determining whether the expected spacing between the two unmanned boats needs to be changed according to the inner maximum curvature, the outer maximum curvature, and the curvature of the next path point of the current navigation position.

[0080] If the two unmanned boats cannot follow the curvature of the planned path, the expected spacing between the unmanned boats needs to be changed to ensure that the two unmanned boats can maintain a formation of moving forward in parallel while sailing along the expected path, thereby reducing the interference force of the flexible connection on the two boats when the formation changes.

[0081] By comparing the real-time maximum inner curvature, the maximum outer curvature and the curvature of the next path point, it can be determined whether the current dual unmanned boats can follow the curvature of the planned path. If they can follow, it is judged that there is no need to change the expected spacing of the unmanned boats. If they cannot follow, the expected spacing of the unmanned boats needs to be changed.

[0082] Operation 106, without changing the expected distance between the unmanned boats, calculate the lateral distance keeping urgency and the longitudinal distance keeping urgency of the two unmanned boats, and determine the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior according to the lateral distance keeping urgency and the longitudinal distance keeping urgency.

[0083] When the distance to the obstacle is relatively close, if the longitudinal distance deviates too much from the expected value, the waves caused by the ship's navigation process will have a serious impact on the flexible connection due to the wall effect of the obstacle, thereby affecting the formation effect of the two unmanned boats. When the distance to the target point is relatively close, if the lateral distance deviates too much from the expected value, it will have a greater impact on the final effect of the target capture. Therefore, in order to ensure the formation and final capture effect of the unmanned boats, the embodiment of the present application designs two kinds of behavior urgency, namely the lateral distance maintenance urgency and the longitudinal distance maintenance urgency, so that in the process of executing the target task, the two kinds of behavior urgency can be adjusted in real time according to the navigation situation to ensure the balance between the formation and the final execution effect.

[0084] Based on the urgency of horizontal distance keeping and vertical distance keeping, the behavioral priority of the corresponding behaviors of the two can be determined, that is, the priority of horizontal distance keeping and vertical distance keeping behaviors.

[0085] In addition to determining the behavior priority of the formation, it is also necessary to determine the priority of the target pursuit behavior. Usually, the behavior priority of the target pursuit behavior is configured as the highest, that is, the first priority.

[0086] Among them, the lateral distance and longitudinal distance of the dual unmanned boats during the target mission can be referred to Figure 3 , Figure 3 An example diagram of the lateral and longitudinal distances of the dual unmanned boat collaborative working method based on urgency priority regulation provided by an embodiment of the present application is shown. is the lateral distance between two unmanned boats, is the longitudinal distance between the two unmanned boats, the oil spill target is the final target of the target mission, which can be a search and rescue target or a salvage target, and the expected position refers to the final navigation position of the two unmanned boats and the virtual navigator, that is, the end point of the target planning path.

[0087] Operation 107 , according to the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior, the expected speed of the unmanned boat is calculated by a zero space behavior fusion method, and the unmanned boat is controlled to navigate at the expected speed of the unmanned boat.

[0088] After determining the behavioral priorities of various behaviors, the expected speed of the unmanned boat can be calculated through the zero-space behavior fusion method, and the unmanned boat can be controlled in real time to move toward the expected speed until it reaches the end of the target navigation path.

[0089] Therefore, the embodiment of the present application calculates the urgency of maintaining lateral and longitudinal distances, and determines the priority of behaviors such as target pursuit, lateral distance maintenance and longitudinal distance maintenance according to the urgency of maintaining lateral and longitudinal distances, thereby achieving dynamic adjustment of behavior priority according to real-time navigation conditions, improving the flexibility and adaptability of formation control, and thus improving execution efficiency.

[0090] In one embodiment of the present application, the maximum inner curvature can be calculated according to the following formula:

[0091]

[0092] in, is the maximum inner curvature, It is the minimum turning radius of the inner unmanned boat.

[0093] The maximum outer curvature can be calculated according to the following formula:

[0094]

[0095] in, is the maximum curvature of the outer side, The distance between unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed.

[0096] In order to ensure that both unmanned boats can follow the trajectory of the virtual navigator, it is necessary to consider whether the desired path curvature is compatible with the turning radius of the unmanned boats. When performing the target mission, the two unmanned boats need to maintain a formation of moving side by side. During the turning process, in the same time period, the turning radius of the inner unmanned boat is smaller, while the sailing speed of the outer unmanned boat is faster. The size of the distance between the two unmanned boats also affects the turning effect of the dual unmanned boat system.

[0097] Therefore, when the dual unmanned boats perform the target mission, the following conditions need to be met:

[0098] (1) , It indicates the minimum turning radius of the outer unmanned boat, that is, the minimum turning radius that can ensure that the outer unmanned boat and the inner unmanned boat meet the formation of parallel progress. The distance between unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed;

[0099] (2) , It represents the minimum turning radius of the two unmanned boats. The minimum turning radius of the unmanned boat on the inner side of the turn, that is, the minimum turning radius of the unmanned boat’s own physical limitations;

[0100] (3) , Indicates the minimum turning radius of the virtual navigator;

[0101] (4) , represents the maximum curvature of the virtual navigator when turning;

[0102] (5)

[0103] (6) .

[0104] Therefore, the formulas for the inner maximum curvature and the outer maximum curvature can be obtained through the above multiple conditions. When executing the target task, the corresponding curvature can be calculated based on the above formulas for the inner maximum curvature and the outer maximum curvature.

[0105] In one embodiment of the present application, the situation in which the dual unmanned boats cannot follow the curvature of the planned path may include one of the following: the curvature of the next path point at the current navigation position is less than the maximum inner curvature and greater than the maximum outer curvature; the curvature of the next path point at the current navigation position is greater than the maximum inner curvature and less than the maximum outer curvature; the curvature of the next path point at the current navigation position is greater than the maximum inner curvature and greater than the maximum outer curvature.

[0106] When either the inner or outer maximum curvature is greater than the curvature of the next path point, it is determined that the curvature of the planned path cannot be followed.

[0107] In one embodiment of the present application, the urgency of maintaining the horizontal distance is calculated by the following formula:

[0108]

[0109] in, To maintain urgency for horizontal distance, is the horizontal coordinate of the virtual navigator, is the vertical coordinate of the virtual navigator, is the horizontal coordinate of the end point of the target navigation path, is the ordinate of the end point of the target navigation path, is the current lateral distance between the two unmanned boats, The maximum error allowed for the lateral distance between two unmanned boats;

[0110] The longitudinal distance maintenance urgency is calculated by the following formula:

[0111]

[0112] in, To maintain urgency for vertical distance, is the horizontal coordinate of the obstacle closest to the virtual navigator, is the ordinate of the obstacle closest to the virtual navigator, is the current longitudinal distance between the two unmanned boats, is the longitudinal distance error between the two unmanned boats, It is the maximum error allowed for the longitudinal distance between two unmanned boats.

[0113] In this embodiment of the present application, Calculated by the following formula:

[0114]

[0115] in, is the length of the flexible connection between the two unmanned boats, r is the expected distance between the unmanned boats, is the adjustment coefficient of the maximum error of the lateral distance between the two unmanned boats;

[0116] Calculated by the following formula:

[0117]

[0118] Among them, L is the length of the unmanned boat, It is the adjustment coefficient of the maximum error of the longitudinal distance between the two unmanned boats.

[0119] In this embodiment of the present application, the adjustment coefficients of the maximum errors of the lateral and longitudinal distances of the dual unmanned boats can be determined according to actual needs, such as 0.9, 0.85, etc.

[0120] In one embodiment of the present application, the behavioral priorities of the target pursuit behavior, the lateral distance maintenance behavior and the longitudinal distance maintenance behavior are determined according to the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance, including: determining the behavioral priority of the target pursuit behavior as the first priority; when the lateral distance maintenance urgency is greater than the longitudinal distance maintenance urgency, determining the behavioral priority of the lateral distance maintenance behavior as the second priority, and determining the behavioral priority of the longitudinal distance maintenance behavior as the third priority; when the lateral distance maintenance urgency is less than the longitudinal distance maintenance urgency, determining the behavioral priority of the longitudinal distance maintenance behavior as the second priority, and determining the behavioral priority of the lateral distance maintenance behavior as the third priority.

[0121] The behavior of chasing the target is the most basic and important behavior, so the behavior priority of the target chasing behavior is the first priority. When the expected distance does not need to be changed, when the urgency of maintaining the horizontal distance is greater than the urgency of maintaining the vertical distance, the urgency of the horizontal distance maintenance behavior is higher than that of the vertical distance maintenance behavior, then the horizontal distance maintenance behavior is the second priority, and the vertical distance maintenance behavior is the third priority. When the urgency of maintaining the horizontal distance is less than the urgency of maintaining the vertical distance, the vertical distance maintenance behavior is the second priority, and the lateral distance maintenance behavior is the third priority.

[0122] In one embodiment of the present application, when the expected distance between the unmanned boats needs to be changed, the behavior priority of the target pursuit behavior is determined to be the first priority, the behavior priority of the lateral distance keeping behavior is determined to be the second priority, and the behavior priority of the longitudinal distance keeping behavior is determined to be the third priority.

[0123] In one embodiment of the present application, when the expected spacing between unmanned boats needs to be changed, the updated expected spacing between the two unmanned boats is determined based on the spacing between the unmanned boats, the inner navigation speed, the maximum navigation speed of the unmanned boats, and the curvature of the next path point of the current navigation position; the two unmanned boats are controlled to modify the spacing between the unmanned boats to the updated expected spacing between the unmanned boats.

[0124] In one embodiment of the present application, the updated unmanned boat expected distance between the two unmanned boats is determined according to the unmanned boat distance, the inner navigation speed, the maximum navigation speed of the unmanned boat, and the curvature of the next path point of the current navigation position, including:

[0125] Calculate the outer minimum turning radius of the outer unmanned boat according to the distance between the unmanned boats, the inner navigation speed, and the maximum navigation speed of the unmanned boats, and obtain the inner minimum turning radius of the inner unmanned boat;

[0126] Determine that the larger value between the outer minimum turning radius and the inner minimum turning radius is the minimum turning radius of the double unmanned boat;

[0127] When the curvature of the next path point at the current navigation position is greater than the maximum inner curvature and less than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: ,in, To update the expected spacing of unmanned boats, is the curvature of the next path point of the current navigation position, The minimum turning radius of the dual unmanned boat;

[0128] When the curvature of the next path point at the current navigation position is less than the maximum inner curvature and greater than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: ,in, To update the expected spacing of unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed;

[0129] When the curvature of the next path point at the current navigation position is greater than the maximum inner curvature and greater than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: .

[0130] In view of the three situations where the unmanned boat needs to change the expected distance, three expected distance calculation methods are adaptively designed to enable the unmanned boat to adapt to various situations and change the expected distance when performing the target mission.

[0131] Among them, the minimum turning radius of the above-mentioned dual unmanned boat is the , I will not go into details here.

[0132] In one embodiment of the present application, calculating the expected speed of the dual unmanned boats by the zero space behavior fusion method is to calculate the expected speed of the dual unmanned boats performing each behavior, and calculating the expected speed of the unmanned boats according to the expected speed of each behavior and the zero space behavior fusion algorithm can specifically include the following steps:

[0133] (1) Calculate the expected speed of target pursuit behavior:

[0134]

[0135] in, is the pseudo-inverse matrix of the Jacobian matrix J of the target pursuit behavior, Behavior Function The expected value of for , is the coefficient constant.

[0136] Behavior function of target pursuit behavior The expression is:

[0137]

[0138] in, is the location information of USV1, is the location information of USV2, is the expected position of USV1, is the expected position of USV2, , , as well as It can be calculated based on the following formula:

[0139]

[0140] in, The desired heading for the virtual pilot. is the desired position of the virtual navigator, It can be calculated by the following formula:

[0141]

[0142] in, is the forward sight distance of the virtual navigator.

[0143] The Jacobian matrix J of the target pursuit behavior is:

[0144]

[0145] Then the pseudo-inverse matrix of J can be expressed as:

[0146]

[0147] (2) Calculate the expected speed for lateral distance keeping behavior:

[0148]

[0149] in, It is the pseudo-inverse matrix of the Jacobian matrix of the lateral distance maintenance behavior. The calculation method is the same as the target pursuit behavior. The behavior function , is the expected spacing, is the lateral distance between the two unmanned boats, is the gain coefficient, which can be calculated by the following formula:

[0150]

[0151] in, The maximum speed limit for lateral distance keeping behavior, is the restriction coefficient, generally .

[0152] (3) Calculate the expected speed for longitudinal distance keeping behavior:

[0153]

[0154] in, It is the pseudo-inverse matrix of the Jacobian matrix of the longitudinal distance keeping behavior. The calculation method is the same as the target pursuit behavior. The behavior function , is the longitudinal distance between the two unmanned boats, is the gain coefficient, which can be calculated by the following formula:

[0155]

[0156] in, Maximum speed for longitudinal distance maintenance behavior, is the restriction coefficient, generally .

[0157] (4) The expected speed of the above three behaviors is fused according to the zero-space behavior fusion method and the behavior priority of each behavior:

[0158]

[0159] in, represents the expected speed of the unmanned boat, represents the expected speed of the target pursuit behavior, represents the speed of the lateral distance keeping behavior, represents the expected speed for longitudinal distance keeping behavior, is the maximum curvature of any unmanned boat, , For behavior The null space matrix of .

[0160] In this way, through steps (1), (2), (3) and (4), the expected speed of the unmanned boat at any navigation position can be continuously calculated in real time.

[0161] In one embodiment of the present application, after obtaining the expected speed of the unmanned boat, the expected speed is also analyzed to obtain the expected speed and heading of each unmanned boat, and then the expected speed and heading of each unmanned boat are sent to the navigation and speed control system of the corresponding unmanned boat, which is controlled to approach the corresponding heading and speed based on its dynamic model and external environmental interference.

[0162] Figure 4 A schematic diagram of the composition structure of a dual unmanned boat collaborative working device based on urgency priority regulation provided in an embodiment of the present application is shown.

[0163] refer to Figure 4 Based on the above-mentioned dual unmanned boat collaborative working method based on urgency priority regulation, the embodiment of the present application further provides a dual unmanned boat collaborative working device based on urgency priority regulation, the device comprising:

[0164] An acquisition module 401 is used to acquire a target navigation path for a virtual navigator of two unmanned boats to perform a target task, the two unmanned boats include an inner unmanned boat inside the virtual navigator and an outer unmanned boat outside the virtual navigator, and the target navigation path includes a plurality of path points and a curvature of each path point;

[0165] A control module 402, used to control the inner unmanned boat and the outer unmanned boat to perform the target mission according to the target navigation path;

[0166] The monitoring module 403 is used to monitor the inner navigation speed of the inner unmanned boat and the unmanned boat distance between the inner unmanned boat and the outer unmanned boat during the process of the inner unmanned boat and the outer unmanned boat performing the target mission;

[0167] A first determination module 404 is used to determine the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the distance between the unmanned boats, the inner navigation speed and the maximum navigation speed of the unmanned boats when a turn is required at the next path point of the current navigation position;

[0168] The second determination module 405 is used to determine whether the desired spacing between the unmanned boats of the two unmanned boats needs to be changed according to the inner maximum curvature, the outer maximum curvature and the curvature of the next path point of the current navigation position;

[0169] The third determination module 406 is used to calculate the lateral distance maintenance urgency and the longitudinal distance maintenance urgency of the two unmanned boats without changing the expected distance between the unmanned boats, and determine the behavior priorities of the target pursuit behavior, the lateral distance maintenance behavior and the longitudinal distance maintenance behavior according to the lateral distance maintenance urgency and the longitudinal distance maintenance urgency;

[0170] The calculation module 407 is used to calculate the expected speed of the unmanned boat through the zero space behavior fusion method according to the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior, and control the unmanned boat to navigate at the expected speed of the unmanned boat.

[0171] In one embodiment of the present application, the device further includes:

[0172] The fourth determination module is used to determine the behavior priority of the target pursuit behavior as the first priority, the behavior priority of the lateral distance keeping behavior as the second priority, and the behavior priority of the longitudinal distance keeping behavior as the third priority when the expected distance between the unmanned boats needs to be changed.

[0173] In one embodiment of the present application, the device further includes:

[0174] A fifth determination module is used to determine the updated expected unmanned boat spacing of the two unmanned boats according to the unmanned boat spacing, the inner navigation speed, the maximum navigation speed of the unmanned boat and the curvature of the next path point of the current navigation position when the expected unmanned boat spacing needs to be changed;

[0175] The spacing control module is used to control the two unmanned boats to modify the spacing between the unmanned boats to update the expected spacing between the unmanned boats.

[0176] It should be noted that the description of the device in the embodiment of the present application is similar to the description of the method embodiment above, and has similar beneficial effects as the method embodiment, so it will not be repeated. Figures 1 to 3 The present invention can be understood by referring to the description of any one of the accompanying drawings.

[0177] According to an embodiment of the present application, the present application also provides an electronic device and a non-transitory computer-readable storage medium.

[0178] Figure 5 A schematic block diagram of an example electronic device 50 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0179] like Figure 5As shown, the electronic device 50 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 to a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 50 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0180] A number of components in the electronic device 50 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 50 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0181] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as a dual unmanned boat collaborative working method based on urgency priority regulation. For example, in some embodiments, the dual unmanned boat collaborative working method based on urgency priority regulation may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 50 via ROM 502 and / or communication unit 509. When the computer program is loaded into RAM 503 and executed by the computing unit 501, one or more steps of the dual unmanned boat collaborative working method based on urgency priority regulation described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured in any other appropriate manner (eg, by means of firmware) to execute the dual unmanned boat collaborative working method based on urgency priority regulation.

[0182] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0183] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0184] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0185] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0186] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0187] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0188] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0189] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for cooperating two unmanned boats based on urgency priority control, characterized in that: The method comprises: Acquire a target navigation path for a virtual navigator of two unmanned boats to perform a target task, the two unmanned boats comprising an inner unmanned boat inside the virtual navigator and an outer unmanned boat outside the virtual navigator, the target navigation path comprising a plurality of path points and a curvature of each path point; Controlling the inner unmanned boat and the outer unmanned boat to perform the target mission according to the target navigation path; During the process of the inner unmanned boat and the outer unmanned boat performing the target mission, monitoring the inner navigation speed of the inner unmanned boat and the unmanned boat distance between the inner unmanned boat and the outer unmanned boat; When a turn is required at the next path point of the current navigation position, determining the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed and the unmanned boat maximum navigation speed; Determining whether it is necessary to change the expected spacing between the unmanned boats of the dual unmanned boats according to the inner maximum curvature, the outer maximum curvature and the curvature of the next path point of the current navigation position; Without changing the expected spacing between the unmanned boats, calculating the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance of the two unmanned boats, and determining the priority of the target pursuit behavior, the lateral distance maintenance behavior, and the longitudinal distance maintenance behavior according to the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance; According to the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior, the expected speed of the unmanned boat is calculated by a zero space behavior fusion method, and the unmanned boat is controlled to navigate at the expected speed of the unmanned boat.

2. The method according to claim 1, characterized in that The determining the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed and the maximum navigation speed of the unmanned boat comprises: The medial maximum curvature is calculated according to the following formula: ,in, is the maximum inner curvature, The minimum turning radius of the inner unmanned boat; The maximum outer curvature is calculated according to the following formula: ,in, is the maximum curvature of the outer side, The distance between unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed.

3. The method according to claim 2, characterized in that Determining whether it is necessary to change the expected spacing between the unmanned boats of the two unmanned boats according to the inner maximum curvature, the outer maximum curvature, and the curvature of the next path point of the current navigation position includes: When the curvature of the next path point of the current navigation position meets one of the following conditions, it is determined that the expected spacing of the unmanned boat needs to be changed: The curvature of the next path point of the current navigation position is smaller than the maximum curvature on the inner side and larger than the maximum curvature on the outer side; The curvature of the next path point of the current navigation position is greater than the maximum curvature on the inner side and less than the maximum curvature on the outer side; The curvature of the next path point of the current navigation position is greater than the inner maximum curvature and greater than the outer maximum curvature.

4. The method according to claim 1, characterized in that: The calculating of the urgency of maintaining the lateral distance and the urgency of maintaining the longitudinal distance of the two unmanned boats includes: The lateral distance maintenance urgency is calculated by the following formula: ,in, To maintain urgency for horizontal distance, is the horizontal coordinate of the virtual navigator, is the vertical coordinate of the virtual navigator, is the horizontal coordinate of the end point of the target navigation path, is the ordinate of the end point of the target navigation path, is the current lateral distance between the two unmanned boats, r is the expected distance between the unmanned boats, The maximum error allowed for the lateral distance between two unmanned boats; The longitudinal distance maintenance urgency is calculated by the following formula: ,in, To maintain urgency for vertical distance, is the horizontal coordinate of the obstacle closest to the virtual navigator, is the ordinate of the obstacle closest to the virtual navigator, is the longitudinal distance error between the two unmanned boats, The maximum error allowed for the longitudinal distance between two unmanned boats; in, Calculated by the following formula: , is the length of the flexible connection between the two unmanned boats, r is the expected distance between the unmanned boats, is the adjustment coefficient of the maximum error of the lateral distance between the two unmanned boats; Calculated by the following formula: , L is the length of the unmanned boat, It is the adjustment coefficient of the maximum error of the longitudinal distance between the two unmanned boats.

5. The method according to claim 1, characterized in that The determining, according to the urgency of maintaining the horizontal distance and the urgency of maintaining the vertical distance, the behavior priorities of the target pursuit behavior, the lateral distance maintaining behavior, and the longitudinal distance maintaining behavior includes: Determine the behavior priority of the target pursuit behavior as the first priority; In the case where the lateral distance keeping urgency is greater than the longitudinal distance keeping urgency, determining the behavior priority of the lateral distance keeping behavior as the second priority, and determining the behavior priority of the longitudinal distance keeping behavior as the third priority; In the case where the lateral distance keeping urgency is lower than the longitudinal distance keeping urgency, the behavior priority of the longitudinal distance keeping behavior is determined to be the second priority, and the behavior priority of the lateral distance keeping behavior is determined to be the third priority.

6. The method according to claim 1, characterized in that The method further comprises: In the case where the expected distance between the unmanned boats needs to be changed, the behavior priority of determining the target pursuit behavior is the first priority, the behavior priority of determining the lateral distance keeping behavior is the second priority, and the behavior priority of determining the longitudinal distance keeping behavior is the third priority.

7. The method according to claim 6, characterized in that The method further comprises: In the case where the expected distance between the unmanned boats needs to be changed, determining the updated expected distance between the two unmanned boats according to the distance between the unmanned boats, the inner navigation speed, the maximum navigation speed of the unmanned boats, and the curvature of the next path point of the current navigation position; Control the two unmanned boats to modify the distance between the unmanned boats to update the expected distance between the unmanned boats.

8. The method according to claim 7, characterized in that The step of determining the updated expected unmanned boat spacing of the two unmanned boats according to the unmanned boat spacing, the inner navigation speed, the maximum navigation speed of the unmanned boat, and the curvature of the next path point of the current navigation position includes: Calculating the outer minimum turning radius of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed, and the maximum navigation speed of the unmanned boat, and obtaining the inner minimum turning radius of the inner unmanned boat; Determine that the larger value between the outer minimum turning radius and the inner minimum turning radius is the minimum turning radius of the double unmanned boat; When the curvature of the next path point of the current navigation position is greater than the maximum inner curvature and less than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: ,in, To update the expected spacing of unmanned boats, is the curvature of the next path point of the current navigation position, The minimum turning radius of the dual unmanned boat; When the curvature of the next path point of the current navigation position is less than the maximum inner curvature and greater than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: ,in, To update the expected spacing of unmanned boats, is the maximum speed of the unmanned boat, is the inner sailing speed; When the curvature of the next path point of the current navigation position is greater than the maximum inner curvature and greater than the maximum outer curvature, the expected distance of the updated unmanned boat is determined according to the following formula: .

9. A dual unmanned boat collaborative working device based on urgency priority control, characterized in that: The device comprises: an acquisition module, used for acquiring a target navigation path for a virtual navigator of two unmanned boats to perform a target task, the two unmanned boats comprising an inner unmanned boat inside the virtual navigator and an outer unmanned boat outside the virtual navigator, the target navigation path comprising a plurality of path points and a curvature of each path point; A control module, used for controlling the inner unmanned boat and the outer unmanned boat to perform the target mission according to the target navigation path; A monitoring module, used for monitoring the inner navigation speed of the inner unmanned boat and the unmanned boat distance between the inner unmanned boat and the outer unmanned boat during the process of the inner unmanned boat and the outer unmanned boat performing the target mission; A first determination module is used to determine the inner maximum curvature of the inner unmanned boat and the outer maximum curvature of the outer unmanned boat according to the unmanned boat spacing, the inner navigation speed and the maximum navigation speed of the unmanned boat when a turn is required at the next path point of the current navigation position; A second determination module is used to determine whether it is necessary to change the expected spacing between the unmanned boats of the dual unmanned boats according to the inner maximum curvature, the outer maximum curvature and the curvature of the next path point of the current navigation position; A third determination module is used to calculate the lateral distance maintenance urgency and the longitudinal distance maintenance urgency of the two unmanned boats without changing the expected distance between the unmanned boats, and determine the behavior priorities of the target pursuit behavior, the lateral distance maintenance behavior and the longitudinal distance maintenance behavior according to the lateral distance maintenance urgency and the longitudinal distance maintenance urgency; A calculation module is used to calculate the expected speed of the unmanned boat through a zero-space behavior fusion method according to the behavior priorities of the target pursuit behavior, the lateral distance keeping behavior and the longitudinal distance keeping behavior, and control the unmanned boat to navigate at the expected speed of the unmanned boat.

10. The device according to claim 9, characterized in that The device also includes: The fourth determination module is used to determine the behavior priority of the target pursuit behavior as the first priority, the behavior priority of the lateral distance keeping behavior as the second priority, and the behavior priority of the longitudinal distance keeping behavior as the third priority when the expected distance between the unmanned boats needs to be changed.

Images