Unmanned ship cluster control method

Abstract

The invention relates to an unmanned ship cluster control method. The method comprises the following steps: 1, setting the position, speed and course parameters of a right virtual navigator in a geodetic coordinate system; 2, setting the relative position and the relative direction of each unmanned ship and the right virtual navigator in the cluster to form an initial formation; wherein the distances between all the unmanned ship nodes and the right virtual navigator are greater than the minimum turning radius of the corresponding unmanned ship; 3, a left virtual navigator is symmetrically arranged with the geometric central axis of the cluster formation as the symmetry axis; and 4, through a fuzzy PID control method, real-time navigational speeds and navigations of the unmanned ships and the left virtual navigator are controlled in real time, relative distances and relative orientations of the unmanned ships and the left virtual navigator and the right virtual navigator are kept unchanged, and cluster formation keeping is realized. The autonomous collaborative operation requirement of the unmanned ship cluster in different task scenes is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned ships, and specifically relates to an unmanned ship cluster control method for collaborative operation and task execution among multiple unmanned ships. Background Art

[0002] With the continuous development of unmanned ship technology, a swarm of unmanned ships has shown great application prospects in the field of marine operations, which can effectively expand the scope of operations and improve operational efficiency. However, how to efficiently and reliably control the swarm action of unmanned ships in complex sea conditions is still a technical problem that needs to be solved urgently.

[0003] At present, the general method of cluster control of unmanned ships is: use one or more real ships as leaders, set their paths and speeds, and other unmanned ships follow the leader's instructions. If the leader fails, the entire formation will be paralyzed. At the same time, complex sea conditions will also affect the control accuracy of the leader itself, and thus affect the control accuracy of the entire formation. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention proposes an efficient and reliable unmanned ship cluster control method.

[0005] The above-mentioned object of the present invention is achieved by the following technical solutions:

[0006] A method for controlling a swarm of unmanned ships comprises the following steps:

[0007] Step 1: Set the position, speed and heading parameters of the right virtual navigator in the geodetic coordinate system;

[0008] Step 2: Set the relative position and relative orientation of each unmanned ship in the cluster and the right virtual navigator to form an initial formation; the distance between all unmanned ship nodes and the right virtual navigator must be greater than the minimum turning radius of the corresponding unmanned ship;

[0009] Step 3: Using the geometric center axis of the cluster formation as the symmetry axis, symmetrically set the left virtual navigator;

[0010] Step 4: Through the fuzzy PID control method, the real-time speed and heading of each unmanned ship and the left virtual navigator are controlled in real time, the relative distance and relative orientation of each unmanned ship and the left virtual navigator and the right virtual navigator are kept unchanged, and the cluster formation is maintained.

[0011] Moreover, in step 4, when the unmanned ship cluster needs to turn right, an arc is drawn with the right virtual navigator as the center and the relative distance between each unmanned ship and the left virtual navigator and the right virtual navigator as the radius. After turning a certain angle, a turning route is generated. Each unmanned ship and the left virtual navigator adjust their own speed and sail along the turning route. They complete the turning in the same time and reach the turning finish line at the same time.

[0012] Moreover, in step 4, when the unmanned ship cluster needs to turn right or left, an arc is drawn with the left virtual navigator as the center and the relative distance between each unmanned ship and the right virtual navigator and the left virtual navigator as the radius. After turning a certain angle, a turning route is generated. Each unmanned ship and the right virtual navigator adjusts its own speed and sails along the turning route. They complete the turning in the same time and reach the turning finish line at the same time.

[0013] The advantages and positive effects of the present invention are:

[0014] The present invention sets a right virtual navigator on the right side of the unmanned ship cluster, and symmetrically sets the left virtual navigator with the geometric central axis of the cluster formation as the symmetry axis. By controlling the position, speed and heading of the right virtual navigator and the relative position and relative orientation of each unmanned ship in the unmanned ship cluster and the left virtual navigator and the same, on the one hand, an initial formation can be quickly formed; on the other hand, in complex navigation tasks, flexible steering control can be achieved according to the turning direction with the corresponding virtual navigator as the turning center, thereby maintaining the stability and consistency of the formation, and meeting the autonomous collaborative operation needs of the unmanned ship cluster in different mission scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Generate a schematic diagram for the initial formation of the unmanned ship cluster;

[0016] Figure 2 Schematic diagram of the unmanned ship cluster turning right. DETAILED DESCRIPTION

[0017] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0018] A method for controlling a swarm of unmanned ships, see Figure 1-Figure 2 , the invention point is that it comprises the following steps:

[0019] Step 1: Set the parameters of the right virtual navigator (the virtual ship) position S right, speed V right and heading F right in the geodetic coordinate system;

[0020] Step 2: Set the relative position and relative orientation of each unmanned ship in the cluster and the right virtual navigator to form an initial formation, in which the distance between all unmanned ship nodes and the right virtual navigator must be greater than the minimum turning radius of the unmanned ship.

[0021] For example, in an unmanned ship cluster consisting of three unmanned ships, ship No. 1, ship 2, and ship 3 are all on the left side of the right virtual navigator, and their distances from the right virtual navigator are D1, D2, and D3 respectively, and D1, D2, and D3 are respectively larger than the minimum turning radius of ship No. 1, ship 2, and ship 3, forming an initial formation; the position, speed and heading of ship No. 1 are S1, V1, and F1 respectively; the position, speed and heading of ship No. 2 are S2, V2, and F2 respectively; the position, speed and heading of ship No. 3 are S3, V3, and F3 respectively.

[0022] Step 3: Taking the geometric central axis L of the cluster formation as the symmetry axis, symmetrically set the left virtual navigator (a set virtual ship), whose position, speed and heading are S left, V left and F left respectively.

[0023] Step 4: Through the fuzzy PID control method, the real-time speed and heading of each unmanned ship and the left virtual navigator are controlled in real time, the relative distance and relative orientation of each unmanned ship and the left virtual navigator and the right virtual navigator are kept unchanged, and the cluster formation is maintained.

[0024] As attached Figure 2 The figure below is a schematic diagram of the right turn of the unmanned ship cluster. Taking the horizontal formation of three unmanned ships as an example, the process is as follows:

[0025] Step 1: The real-time speed and heading of each unmanned ship and the left virtual navigator are controlled in real time by the fuzzy PID control method, and the relative distances D1, D2, D3, D4 and relative directions of ship No. 1, ship No. 2, ship No. 3 and the left virtual navigator and the right virtual navigator are kept unchanged to achieve cluster formation maintenance;

[0026] The fuzzy PID control method includes three steps: ① Collect the status information of the unmanned ship and the surrounding environmental information, such as speed, heading, wind speed, wind direction, etc. through the sensors on the unmanned ship; ② According to the status information of the unmanned ship and the surrounding environmental information, use the fuzzy PID controller to calculate the control quantity of speed and heading; ③ Convert the control quantity into control instructions for the host and steering gear, drive the unmanned host and steering gear to perform corresponding actions, and then realize precise control of speed and heading.

[0027] Step 2: When the unmanned ship cluster needs to turn right, an arc is drawn with the right virtual navigator as the center and the relative distance between each unmanned ship and the left virtual navigator and the right virtual navigator as the radius. The arc is rotated 90 degrees to generate turning routes M1, M2, M3, and Mleft. Each unmanned ship and the left virtual navigator adjusts its own speed and sails along the turning route. They complete the turning in the same time and reach the turning finish line at the same time.

[0028] Furthermore, during the right turn, the speed of each unmanned ship and the left virtual navigator is first adjusted so that they reach the turning start line and then start to turn synchronously. After reaching the turning end line, all unmanned ships and the left virtual navigator return to the original speed and continue to sail in the new direction.

[0029] When the unmanned ship cluster needs to turn left, the roles of the left and right virtual navigators in the above process are swapped to complete the above process.

[0030] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A method for controlling a cluster of unmanned ships, characterized in that: The steps include: Step 1: Set the position, speed and heading parameters of the right virtual navigator in the geodetic coordinate system; Step 2: Set the relative position and relative orientation of each unmanned ship in the cluster and the right virtual navigator to form an initial formation; the distance between all unmanned ship nodes and the right virtual navigator must be greater than the minimum turning radius of the corresponding unmanned ship; Step 3: Using the geometric center axis of the cluster formation as the symmetry axis, symmetrically set the left virtual navigator; Step 4: Through the fuzzy PID control method, the real-time speed and heading of each unmanned ship and the left virtual navigator are controlled in real time, the relative distance and relative orientation of each unmanned ship and the left virtual navigator and the right virtual navigator are kept unchanged, and the cluster formation is maintained.

2. The unmanned ship cluster control method according to claim 2 is characterized in that: In step 4, when the unmanned ship cluster needs to turn right, an arc is drawn with the right virtual navigator as the center and the relative distance between each unmanned ship and the left virtual navigator and the right virtual navigator as the radius. After turning a certain angle, a turning route is generated. Each unmanned ship and the left virtual navigator adjust their own speed and sail along the turning route. They complete the turning in the same time and reach the turning finish line at the same time.

3. The unmanned ship cluster control method according to claim 1, characterized in that: In step 4, when the unmanned ship cluster needs to turn left, an arc is drawn with the left virtual navigator as the center and the relative distance between each unmanned ship and the right virtual navigator and the left virtual navigator as the radius. After turning a certain angle, a turning route is generated. Each unmanned ship and the right virtual navigator adjusts its own speed and sails along the turning route. They complete the turning in the same time and reach the turning finish line at the same time.

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