Heterogeneous unmanned ship fleet-shaped aggregation control method based on task planning

Abstract

The invention relates to a task planning-based heterogeneous unmanned ship fleet-shaped aggregation control method. The method comprises the following steps of 1, planning a heterogeneous unmanned ship fleet-shaped aggregation task scheme; 2, the formation members arrive at the gathering points of the formation members; 3, in the execution process of the heterogeneous unmanned ship team-shaped aggregation task in the step 2, adjusting the aggregation team at any time according to task requirements; step 4, after the formation members arrive at the respective aggregation points, each formation member is always kept in an aggregation circular area formed by taking the position of the aggregation point as the center of a circle and the radius of the ship stopping circular area as the radius; and step 5, through two stages of formation aggregation task planning and aggregation task execution, the formation center station monitoring system intelligently selects an optimal aggregation mode and an optimal control mode which meet task requirements. The system can be compatible with same-type and heterogeneous unmanned ships, and supports the functions of extension of formation members, information interaction, formation and distribution and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned boat cluster control, and relates to a formation assembly control method for heterogeneous unmanned boats, in particular to a formation assembly control method for heterogeneous unmanned boats based on mission planning. Background Art

[0002] In recent years, with the rapid development of technologies such as electronic information and intelligent control and their continuous applications in the military, the performance of military unmanned systems has been improved. However, due to the limitation of single-unit capabilities, it is still difficult to form large-scale combat capabilities. Future wars will be confrontations between systems and systems. No matter how good a single platform is equipped, it cannot confront multi-platform cluster cooperative operations. The cluster and cooperative operations of unmanned systems will be the focus of the development of unmanned system equipment technologies.

[0003] Facing the future trends of unmanned, clustered, and systematic operations, the "Unmanned Aerial Vehicle System Roadmap" formulated by the United States divides the autonomous completion of tasks by unmanned clusters into the highest level of autonomous / intelligent control. Under the auspices of military science and technology research and development institutions such as DAPAR, JFCOM, AFRL, and ONR, universities such as the Massachusetts Institute of Technology and the University of Pennsylvania, and companies such as General Atomics and Lockheed Martin are actively carrying out research and development on related technologies of unmanned system clusters, including unmanned aerial vehicle clusters, unmanned boat clusters, unmanned underwater vehicle clusters, cross-domain cooperative technologies for maritime unmanned system clusters, and anti-unmanned cluster technologies.

[0004] The research on unmanned clusters in China mainly follows the United States. Generally speaking, the research level is relatively low. In particular, the research on underlying cluster intelligence theories and cluster control algorithms lacks originality and leadership. There are few demonstration and verification projects for large-scale clusters and maritime cross-domain clusters. High-end research projects such as unmanned air combat wingman clusters are in the stage of concept exploration. In particular, the research on high-performance basic core algorithms and control devices in aspects such as cluster motion control, cluster mutual environment perception, cluster data fusion, and cluster task planning is scattered and weak, and there has been no systematic breakthrough. As an important link in the problem of unmanned boat cluster control, the main goal of formation assembly is to assemble unmanned boats distributed at different positions into a specified formation within a limited time.

[0005] Traditional methods usually focus on controlling the stability of the formation of the cluster during movement, believing that the purpose of cluster assembly is achieved when the position errors of each intelligent agent in the cluster converge. The main methods include the virtual structure method, the behavior-based method, and the leader-follower method. The virtual structure method lacks flexibility, and the system is difficult to be represented in a mathematical form; the behavior-based method is difficult to prove and ensure the stability of the system; the leader-follower method is too dependent on the leader, and it needs to be replaced again when the leader node fails.

[0006] In actual application scenarios, the payloads carried by each member of the unmanned ship formation are different, and it is necessary to limit the fixed combat positions in the formation and adjust the formation assembly point in real time according to the changes in mission requirements. The existing cluster assembly control methods cannot meet the actual use requirements. At the same time, different types of unmanned ships are produced and built by different industrial units, and the control logics, interface relationships, and control methods of different types of unmanned ships are different, resulting in a large amount of manpower and material resources being required for guarantee in cluster missions, and the control logic is complex, and the mission failure rate is relatively high.

[0007] Therefore, in order to simplify the formation assembly process and improve the formation assembly efficiency, the present invention proposes a heterogeneous unmanned ship formation assembly control method based on mission planning. Summary of the Invention

[0008] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a heterogeneous unmanned ship formation assembly control method based on mission planning, which can be compatible with homogeneous and heterogeneous unmanned ships and support functions such as expansion of formation members, information interaction, formation shape, and allocation.

[0009] The present invention solves its practical problems by adopting the following technical solutions:

[0010] A heterogeneous unmanned ship formation assembly control method based on mission planning includes the following steps:

[0011] Step 1, plan a heterogeneous unmanned ship formation assembly mission plan;

[0012] Step 2, the formation members execute the heterogeneous unmanned ship formation assembly mission route planned in Step 1, and then reach the assembly points of each formation member;

[0013] Step 3, during the execution of the heterogeneous unmanned ship formation assembly mission in Step 2, adjust the assembly formation at any time according to mission requirements;

[0014] Step 4, after the formation members reach their respective assembly points, each formation member automatically activates the position-keeping function and always stays within the assembly circular area formed with the assembly point position as the center and the radius of the ship-stop circular area as the radius;

[0015] Step 5, after going through two stages of formation assembly mission planning and assembly mission execution, the formation central station monitoring system combines geographical environment data such as electronic nautical charts, and through the wind speed, wind direction transmitted back by each unmanned ship and the flow velocity and flow direction provided by the payload and other marine environment information, and comprehensively considers the ship characteristics to intelligently select the best assembly mode and control mode that meet the mission requirements.

[0016] Moreover, the specific method of Step 1 is as follows:

[0017] New and manage the formation using the monitoring software of the formation center station. After the formation of unmanned vessels remotely control out of the port and wait at the drifting point outside the port, upon receiving the command from the command station, generate the formation mission route with one key and distribute it to each formation member, thus completing the planning of the formation mission for heterogeneous unmanned vessels.

[0018] Moreover, the attributes of the newly created formation in step 1 include: the vessel numbers of the formation members, the position of the assembly point, the distance to the assembly point, the bearing of the assembly point, and the radius of the stopping area of the assembly point.

[0019] Among them, the position of the assembly point of the newly created formation can be set by inputting longitude and latitude, marking on the nautical chart, or dragging, and multiple assembly points can be edited by copying, translating, rotating, inserting, and deleting.

[0020] Moreover, the newly created formation in step 1 not only supports the basic formations of 7 types of naval vessels at sea, namely single column formation, double column formation, single line abreast formation, double line abreast formation, echelon formation, azimuth formation, and herringbone formation, but also supports customizing the formation.

[0021] Moreover, the radius of the stopping area of the assembly point in the formation attributes of step 1 refers to: a circular assembly area with the position of the assembly point as the center and this attribute as the radius. This circular area is the area where each unmanned vessel waits. It is set to adapt to the different turning radii of unmanned vessels of different sizes. When the formation members arrive at the assembly point, they stay within this circular area.

[0022] Moreover, the management of the formation in step 1 is to implement operations such as calling, saving, and editing the newly created formation. When receiving the command of "start formation" from the command station, call the command formation through the center station monitoring software, automatically generate the formation route through the present invention, issue the start formation command, and each formation member enters the next stage after receiving the command.

[0023] Moreover, the specific method for generating the formation mission route in step 1 is as follows:

[0024] Use the current coordinates of the formation members as the starting point of the formation route and the assembly point as the ending point of the formation route to generate a route with two waypoints.

[0025] Moreover, the specific method of step 2 is as follows:

[0026] After each formation member receives the formation mission route issued by the central monitoring software, it enters the formation mission execution stage. Each formation member autonomously sails to the assembly point according to the formation route. The formation members use this route as the global route. If there are navigation obstacles during the route, each formation member uses its own navigation control system to generate a local route. After avoiding the obstacles, it autonomously resumes to the original global route to continue completing the formation mission;

[0027] Moreover, the specific method of step 3 is as follows:

[0028] During the execution of the heterogeneous unmanned boat formation assembly task in step 2, the assembly formation can be adjusted at any time according to the task requirements. Select a new assembly formation through the assembly formation management list, click to start assembly, and the system automatically generates a new assembly route. After receiving the command route, each formation member enters step 2.

[0029] Moreover, in step 3, the assembly formation can be adjusted by newly creating an assembly formation to globally adjust the assembly points of all members of the formation, or by editing the current assembly formation to adjust the assembly points of one or more formation members of the formation, and selecting the formation members to be adjusted for targeted adjustment.

[0030] Advantages and beneficial effects of the present invention:

[0031] 1. The present invention proposes a heterogeneous unmanned boat formation assembly control method based on task planning, which supports no less than 12 unmanned boats to join the formation; supports the formation of heterogeneous unmanned boats with different types and capabilities to achieve formation assembly; according to the task requirements, formation members can withdraw from or join the assembly task at any time, supporting the expansion and withdrawal of formation members; adopts a combination of centralized and distributed methods to achieve formation assembly control, where centralized control is convenient for collaborative command and upper-layer decision-making during the assembly task planning stage, and distributed control is that after each formation member receives the assembly task point, it executes the assembly task execution stage; after each formation member arrives at the task assembly point, the area holding function is automatically turned on to standby for subsequent tasks; the formation assembly plan can set the assembly point position by inputting longitude and latitude, nautical chart annotation, and dragging, and edit multiple assembly points by copying, translating, rotating, inserting, and deleting; each assembly point of the formation assembly includes attributes such as boat number, position, distance, azimuth, and radius of the assembly stop boat circular area. The core solves the problem that the existing formation assembly control method is in the simulation verification stage, is more biased towards homogeneous unmanned boats, and has a cumbersome operation. Through two stages of assembly planning and assembly task execution, the system fault tolerance and compatibility are improved.

[0032] 2. The present invention divides the heterogeneous unmanned boat formation assembly control into two stages, namely the formation assembly planning stage and the assembly task execution stage. In the formation assembly planning stage, different assembly formations are planned according to the task requirements, and the assembly task route is generated with one key and distributed to each formation member; in the assembly task execution stage, each formation member autonomously sails to the assembly point according to the assembly task route. Its advantage lies in simplifying the assembly operation process, and the assembly plan can be modified at any time, which is flexible and convenient.

[0033] 3. The present invention realizes the formation assembly of no less than 12 heterogeneous unmanned vessels in a combined way of centralized and distributed methods, supports the random expansion or withdrawal of formation members, and supports the navigation control of each formation member simultaneously or individually. Its advantages lie in strong compatibility, being able to be compatible with heterogeneous unmanned vessels, no longer being limited to homogeneous unmanned vessels, and supporting the withdrawal and joining of formation members at any time.

[0034] 4. The assembly formations of the present invention can not only construct 7 basic formations of maritime ship formations, namely single column formation, double column formation, single line abreast formation, double line abreast formation, echelon formation, azimuth formation, and herringbone formation, but also construct any assembly formation.

[0035] 5. The present invention uses an all-round and multi-dimensional three-dimensional data platform to enhance the data integration and sharing capabilities. Combining geographical environment data such as electronic nautical charts, through the wind speed, wind direction, and the flow velocity and flow direction provided by the load back-transmitted by each unmanned vessel, and comprehensively considering the ship characteristics, it intelligently selects the best assembly mode and control mode that meet the task requirements to ensure the navigation safety of the vessels. The present invention has been verified in the actual ship formation assembly control of multiple scenarios and various heterogeneous unmanned vessels, and the feasibility of the unmanned vessel assembly control has been verified from multiple perspectives, initially solving the key technical problems closely related to the formation maneuvering, autonomous control, task management, information sharing, etc. of the unmanned system cluster and cooperative combat. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic diagram of the basic formation of the ship formation of the present invention;

[0037] Figure 2 is a schematic diagram of the double line abreast formation assembly of 12 unmanned vessels of the present invention;

[0038] Figure 3 is a schematic diagram of the formation list management interface of the present invention;

[0039] Figure 4 is a schematic diagram of the custom assembly formation interface of the present invention;

[0040] Figure 5 is a schematic diagram of the single line abreast formation assembly editing of the present invention;

[0041] Figure 6 is a screenshot of the actual ship test of the formation assembly transformation of two ships of the present invention;

[0042] Figure 7 is a screenshot of the actual ship test of the formation assembly of three ships of the present invention;

[0043] Figure 8 is a screenshot of the actual ship test of the formation assembly of five unmanned vessels of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0044] The embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings:

[0045] A formation assembly control method for heterogeneous unmanned ships based on mission planning, comprising the following steps:

[0046] Step 1, plan the formation assembly task plan for heterogeneous unmanned ships (unmanned ships of different sizes and different types are called heterogeneous unmanned ships);

[0047] The specific method of the above Step 1 is as follows:

[0048] Newly build and manage the assembly formation through the monitoring software of the formation center station. After the formation unmanned ships are remotely controlled out of the port to the drifting point for standby, upon receiving the command from the command station, generate the assembly task route with one key and distribute it to each formation member, thereby completing the planning of the formation assembly task for heterogeneous unmanned ships.

[0049] The attributes of the newly built assembly formation in Step 1 include: the ship numbers of the formation members, the position of the assembly point, the distance to the assembly point, the azimuth of the assembly point, the radius of the ship parking area at the assembly point, etc.;

[0050] Among them, the position of the assembly point of the newly built assembly formation can be set by inputting longitude and latitude, marking on the nautical chart, and dragging, and multiple assembly points can be edited by copying, translating, rotating, inserting, and deleting.

[0051] The newly built assembly formation in Step 1 not only supports the 7 basic formations of maritime ship formations, namely single column formation, double column formation, single line abreast formation, double line abreast formation, echelon formation, azimuth formation, and herringbone formation, but also supports custom building of assembly formations.

[0052] In the attributes of the assembly formation in Step 1, the radius of the ship parking area at the assembly point refers to: a circular assembly area with the position of the assembly point as the center and this attribute as the radius. This circular area is the area where each unmanned ship stays on standby. It is set to adapt to the different turning radii of unmanned ships of different sizes. When the formation members arrive at the assembly point, they stay within this circular area.

[0053] The management of the assembly formation in Step 1 is to implement operations such as calling, saving, and editing the newly built assembly formation. After receiving the command of "start assembly" from the command station, call the command assembly formation through the center station monitoring software, automatically generate the assembly route through the present invention, issue the start assembly command, and each formation member enters the next stage after receiving the command.

[0054] The specific method of generating the assembly task route in Step 1 is as follows:

[0055] Use the current coordinates of the formation members as the starting point of the assembly route and the assembly point as the ending point of the assembly route to generate the route of two waypoints.

[0056] In this embodiment, the working principle of step 1 is as follows:

[0057] Step 1: Formation assembly includes an assembly task planning stage and an assembly task execution stage. As the name implies, the assembly task planning stage realizes the planning and management of the formation assembly formation. This stage is for facilitating collaborative command and upper-level decision-making. The formation assembly formation is newly created and managed through the monitoring software of the formation center station. For example, Figure 2 As shown, click the "New Assembly" button, select the assembly point on the chart by clicking the mouse to generate the assembly formation, and click the "Save Assembly" button. This assembly formation can be saved to the assembly formation list. After the formation of unmanned boats remotely exits the port and stands by at the off-port drifting point, upon receiving the command from the command station, a one-key generation of the assembly task route is performed. That is, as shown in the figure, after clicking the "Generate Assembly Route" button, click the "Start Assembly" button to distribute it to each formation member.

[0058] Furthermore, in step 1, when creating a new assembly formation, the assembly formation includes attributes such as the boat numbers of the formation members, the position of the assembly point, the distance to the assembly point, the azimuth of the assembly point, and the radius of the circular area for stopping the boat at the assembly point. For example, Figure 5 View and edit in the assembly point attribute list of the assembly formation as shown. The newly created assembly formation can set the position of the assembly point by inputting longitude and latitude, chart annotation, or dragging. For example, Figure 5 As shown, in the assembly formation editing state, the longitude and latitude of the assembly point can be input in the assembly point attribute list of the assembly formation, or the assembly point can be directly confirmed on the chart by annotation and dragging. Multiple assembly points can be edited by copying, translating, rotating, inserting, and deleting.

[0059] Furthermore, in step 1, the assembly formation not only supports the 7 basic formations of maritime ship formations as shown in Figure 1 That is, single column formation, double column formation, single line abreast formation, double line abreast formation, echelon formation, azimuth formation, and herringbone formation. For example, Figure 1 The schematic diagram of the double line abreast formation composed of 12 unmanned boats constructed as shown, and at the same time supports the construction of custom formations, as shown in Figure 4 As shown.

[0060] Furthermore, in step 1, in the assembly point attributes, a circular assembly area is formed with the position of the assembly point as the center and the radius of the circular area for stopping the boat as the radius. For example, Figure 2 As shown, the area enclosed by the blue circle of the assembly formation in the figure is this circular area. This circular area is for adapting to unmanned boats of different sizes with different turning radii. After the formation members arrive at the assembly point, the required position control and holding areas are different.

[0061] Further, in step 1, the management of the assembly formation realizes operations such as calling, saving, and editing the established assembly formation. After receiving the instruction to start assembling at the command position, the instruction assembly formation is called through the central station monitoring software, the system automatically generates an assembly route, issues the start assembly instruction, and each formation member enters the next stage after receiving the instruction.

[0062] Further in step 1, an assembly route is generated, with the current coordinates of the formation members as the starting point of the assembly route and the assembly point as the ending point of the assembly route, generating a route with two waypoints. Taking the actual ship test as an example, as Figure 6 shown, the green straight line is the generated assembly route.

[0063] Step 2: The formation members execute the heterogeneous unmanned ship formation assembly task route planned in step 1, and then reach the assembly points of each formation member;

[0064] The specific method of step 2 is as follows:

[0065] After each formation member receives the assembly task route issued by the central monitoring software, it enters the assembly task execution stage. Each formation member autonomously sails to the assembly point according to the assembly route. The formation member takes this route as the global route. If there are navigation obstacles in the route, each formation member uses its own navigation control system to generate a local route. After completing obstacle avoidance, it autonomously resumes to the original global route to continue completing the assembly task;

[0066] Step 3: During the execution of the heterogeneous unmanned ship formation assembly task in step 2, adjust the assembly formation at any time according to the task requirements;

[0067] The specific method of step 3 is as follows:

[0068] During the execution of the heterogeneous unmanned ship formation assembly task in step 2, the assembly formation can be adjusted at any time according to the task requirements. Select a new assembly formation through the assembly formation management list, click start assembly, the system automatically generates a new assembly route, and after each formation member receives the instruction route, it enters step 2.

[0069] In step 3, adjusting the assembly formation can globally adjust the assembly points of all formation members by creating a new assembly formation, or can adjust the assembly points of one or more formation members of the formation by editing the current assembly formation, and select the formation members to be adjusted for targeted adjustment.

[0070] In this embodiment, the working principle of step 3 is:

[0071] Step 3, during the execution stage of the assembly task in step 2, the assembly formation can be adjusted at any time according to the task requirements. Select a new assembly formation through the assembly formation management list, as Figure 3Click the "Start Assembly" button as shown, and the system automatically generates a new assembly route. After each formation member receives the command route, proceed to Step 2 above.

[0072] Further, in Step 3 during the execution stage of the assembly task, to adjust the assembly formation, the assembly points of all members of the formation can be adjusted as a whole by creating a new assembly formation, or the assembly points of one or more formation members of the formation can be adjusted by editing the current assembly formation. For example, Figure 6 As shown in the full-scale test of a formation consisting of 3 unmanned vessels, according to the mission requirements, currently only two of the unmanned vessels need to be assembled. Select the formation members to be adjusted for targeted adjustment. For example, Figure 6 In the full-scale test shown, the assembly formation is temporarily modified from the original horizontal formation to a single-file formation.

[0073] Step 4: After the formation members reach their respective assembly points, each formation member automatically activates the position-holding function and always stays within the assembly circular area formed with the assembly point position as the center and the radius of the stopping circular area as the radius.

[0074] Step 5: After going through the two stages of formation assembly task planning and assembly task execution, the formation central station monitoring system combines geographical environment data such as electronic nautical charts, and through the wind speed, wind direction, and the flow velocity and direction provided by the load back-transmitted by each unmanned vessel and other marine environment information, comprehensively considers the vessel characteristics, and intelligently selects the best assembly mode and operation mode that meet the mission requirements.

[0075] As shown in Table 1, the summary table of unmanned vessels used during full-scale verification. Full-scale verification was completed with different combinations and different numbers of unmanned vessels. For the first time, a formation consisting of two unmanned vessels, one 40-meter long and one 80-meter long, was used. The screenshots of the situation during full-scale navigation are shown in Figure 6 As shown; for the second time, a formation consisting of three unmanned vessels, one 32-meter long, one 40-meter long, and one 80-meter long, was used. The screenshots of the situation during full-scale navigation are shown in Figure 7 As shown; for the third time, a formation consisting of five unmanned vessels, one 32-meter long, two 40-meter long, and two 80-meter long, was used. The screenshots of the situation during full-scale navigation are shown in Figure 8 As shown.

[0076] Table 1 Details of formation members in full-scale test

[0077]

[0078] Taking the full-scale test of a formation consisting of 5 unmanned vessels as an example, 5 Type 4 heterogeneous unmanned vessels are selected. For example, Figure 8As shown in the figure, it is a screenshot of the navigation situation monitoring software in the actual ship navigation test. A formation is constructed in the figure, and the blue circles are the assembly positions of each boat. Click the start assembly button, and each boat sails towards the assembly position, and finally completes the cluster assembly. The assembly time is about 30 minutes. It can be seen from the figure that the present invention already has the functions of formation navigation situation, information monitoring, assembly formation planning for 12 unmanned boats, and supports the expansion of formation members, information interaction, assembly control, etc.

[0079] The working principle of the present invention is:

[0080] Aiming at the navigation or combat requirements of multiple surface unmanned boats, the present invention designs a heterogeneous unmanned boat formation assembly control method based on mission planning, which can be compatible with homogeneous and heterogeneous unmanned boats, supports functions such as the expansion of formation members, information interaction, assembly formation planning, and assembly control. It adopts an open system architecture, has good formation scalability, and can simultaneously realize the assembly control of a formation composed of at least 12 heterogeneous unmanned boats.

[0081] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manners. Any other implementation manners obtained by those skilled in the art according to the technical solutions of the present invention also belong to the protection scope of the present invention.

Claims

1. A heterogeneous unmanned ship formation assembly control method based on mission planning, characterized by: The following steps are involved: Step 1: Plan the task plan for assembling a heterogeneous unmanned ship fleet; Step 2: The formation members execute the heterogeneous unmanned ship formation assembly mission route planned in step 1, and then arrive at the assembly point of each formation member; Step 3: During the execution of the heterogeneous unmanned ship formation assembly task in step 2, the assembly formation is adjusted at any time according to the task requirements; Step 4: After the formation members arrive at their respective assembly points, each formation member automatically turns on the position control and holding function, and always stays within the assembly circular area formed with the assembly point as the center and the radius of the parking circular area as the radius; Step 5. After the two stages of formation assembly task planning and assembly task execution, the monitoring system of the formation center station combines geographic environment data such as electronic nautical charts, and the ocean environment information such as wind speed and wind direction sent back by each unmanned ship, as well as flow rate and flow direction provided by the payload, and comprehensively considers the characteristics of the ships to intelligently select the best assembly mode and control mode that meets the mission requirements.

2. According to claim 1, a heterogeneous unmanned ship formation assembly control method based on mission planning is characterized by: The specific method of step 1 is: The assembly formation is created and managed through the monitoring software of the formation center station. When the formation unmanned ship is remotely controlled to the drifting point outside the port and is on standby, it receives the command from the command position, generates the assembly mission route with one click, and distributes it to each formation member, thereby completing the planning of the heterogeneous unmanned ship formation assembly mission.

3. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 2 is characterized by: The attributes of the newly created assembly formation in step 1 include: the ship number of the formation members, the assembly point location, the assembly point distance, the assembly point orientation, and the assembly point parking area radius; Among them, the newly created assembly formation can set the assembly point position by entering longitude and latitude, marking on the nautical chart, and dragging, and multiple assembly points can be edited by copying, translating, rotating, inserting, and deleting.

4. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 2 is characterized by: The newly created assembly formation in step 1 not only supports the seven basic formations of naval ship formations, namely single column, double column, single horizontal formation, double horizontal formation, echelon, azimuth formation, and herringbone formation, but also supports custom construction of assembly formations.

5. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 3 is characterized by: The radius of the assembly point ship stopping area in the assembly formation attribute in step 1 refers to: a circular assembly area with the assembly point position as the center and the attribute as the radius. The circular area is an area for each unmanned ship to standby. It is set to adapt to the different turning radii of unmanned ships of different sizes. When the formation members arrive at the assembly point, they stay in the circular area.

6. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 2 is characterized by: The management of the assembly formation in step 1 is to realize the operations such as calling, saving, and editing the newly created assembly formation. After receiving the command of "start assembly" from the command station, the command assembly formation is called through the central station monitoring software, and the assembly route is automatically generated through the present invention, and the start assembly command is issued. After receiving the command, each formation member enters the next stage.

7. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 2 is characterized by: The specific method for generating the assembly mission route in step 1 is: The current coordinates of the formation members are used as the starting point of the assembly route, and the assembly point is used as the end point of the assembly route to generate a route with two waypoints.

8. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 1 is characterized by: The specific method of step 2 is: After each member of the formation receives the assembly mission route issued by the central monitoring software, it enters the assembly mission execution phase. Each member of the formation autonomously navigates to the assembly point according to the assembly route. The formation members use this route as the global route. If there are any obstructions on the route, each member of the formation uses their own navigation control system to generate a local route. After completing the obstacle avoidance, they autonomously restore to the original global route to continue to complete the assembly mission.

9. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 1, characterized in that: The specific method of step 3 is: During the execution of the heterogeneous unmanned ship formation assembly task in step 2, the assembly formation can be adjusted at any time according to the task requirements. A new assembly formation is selected through the assembly formation management list, and the start assembly is clicked. The system automatically generates a new assembly route. After each formation member receives the command route, it enters step 2.

10. The method for controlling the formation of heterogeneous unmanned ships based on mission planning according to claim 1, characterized in that: In step 3, the assembly formation may be adjusted by creating a new assembly formation to adjust the assembly points of all members of the formation as a whole, or by editing the current assembly formation to adjust the assembly points of one or more members of the formation, and the formation members to be adjusted may be selected for targeted adjustment.

Images