Autonomous underwater vehicle cluster control method, electronic equipment and medium

Abstract

The invention provides an autonomous underwater vehicle cluster control method, electronic equipment and a medium. The method comprises the following steps: acquiring a position of a target follower at a current moment, a navigational speed of the target follower at the current moment, and a position, a pitch angle, a course and a navigational speed of a leader autonomous underwater vehicle at the current moment; determining the position of the target follower at the next moment according to the position and the navigational speed of the target follower at the current moment and the pitch angle and the course of the leader autonomous underwater vehicle at the current moment; determining the distance between the target follower and the leading autonomous underwater vehicle at the current moment according to the position of the target follower at the current moment and the position of the leading autonomous underwater vehicle at the current moment; determining the navigational speed of the target follower at the next moment according to the navigational speed of the target follower at the current moment and the distance at the current moment; and controlling the target follower to advance underwater according to the position and the navigational speed of the target follower at the next moment. And the efficiency and the safety of team formation are improved.

Description

Technical Field

[0001] This application relates to the technical field of underwater cluster control. Specifically, it relates to a method for controlling an autonomous underwater vehicle cluster, an electronic device, and a medium. Background Art

[0002] Autonomous Underwater Vehicle (AUV) clusters play an important role in fields such as ocean exploration and seabed resource development. There are numerous communication constraints in the deep-sea environment, including communication distance limitations, signal attenuation, and noise interference, which affect the communication quality and stability between AUVs, and further affect the efficiency and safety of the AUV cluster's formation and movement.

[0003] Directed communication constraints mean that communication devices can only receive and send signals in a specific direction, causing AUVs to only communicate with specific other AUVs. Due to the weak communication limitations and directed communication constraints in the underwater environment, conventional clustering and formation movement algorithms such as the leader-follower method, artificial potential field method, fixed formation method, and Boids method in the prior art are difficult to effectively apply in the underwater environment, resulting in high energy consumption and communication packet loss rates, and having certain communication defects. Summary of the Invention

[0004] The purpose of this application is to provide a method for controlling an autonomous underwater vehicle cluster, an electronic device, and a medium to address the actual need of the low efficiency and safety of the AUV cluster's formation and movement in the prior art.

[0005] To achieve the above objective, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, an embodiment of this application provides a method for controlling an autonomous underwater vehicle cluster, the method including: Obtain the position of a target follower at the current moment, the speed of the target follower at the current moment, the position, pitch angle, heading, and speed of the leader autonomous underwater vehicle at the current moment, where the target follower is any one of the multiple follower autonomous underwater vehicles in the vehicle cluster, and the vehicle cluster further includes the leader autonomous underwater vehicle; Determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leader autonomous underwater vehicle at the current moment; Determine the distance between the target follower and the leader autonomous underwater vehicle at the current moment according to the position of the target follower at the current moment and the position of the leader autonomous underwater vehicle at the current moment; Determine the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment; Control the target follower to travel underwater according to the position of the target follower at the next moment and the speed of the target follower at the next moment.

[0006] As an optional implementation manner, the determining the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, the pitch angle and the heading of the leading autonomous underwater vehicle at the current moment includes: Determine the target heading of the target follower according to the heading of the leading autonomous underwater vehicle at the current moment and the heading rotation amount of the target follower from the current moment to the next moment; Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments; Determine the target pitch angle of the target follower according to the pitch angle rotation amount of the target follower from the current moment to the next moment; Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments; Determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, the heading of the target follower at the next moment, and the pitch angle of the target follower at the next moment.

[0007] As an optional implementation manner, the determining the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments includes: Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, the heading errors at the multiple historical moments, the heading proportional integral derivative control parameter at the current moment, and the preset heading step size.

[0008] As an optional implementation manner, the determining the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments includes: Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, the pitch angle errors at multiple historical moments, the pitch angle proportional integral derivative control parameter at the current moment, and a preset pitch angle step size.

[0009] As an optional implementation manner, the determining the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment includes: Determine whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within a preset safe distance interval; If so, reduce the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size, to obtain the speed of the target follower at the next moment; If not, increase the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size, to obtain the speed of the target follower at the next moment.

[0010] As an optional implementation manner, the reducing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size, to obtain the speed of the target follower at the next moment includes: Determine the first product of the rated maximum speed and a first preset proportional coefficient; Determine the first difference between the speed of the target follower at the current moment and the preset speed step size; Take the maximum value between the first product and the first difference as the speed of the target follower at the next moment.

[0011] As an optional implementation manner, the increasing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size, to obtain the speed of the target follower at the next moment includes: Determine the first sum value of the speed of the target follower at the current moment and the preset speed step size; Take the minimum value between the first sum value and the rated maximum speed as the speed of the target follower at the next moment.

[0012] As an optional implementation manner, the method further includes: Determine the maximum delay among the communication delays between the leading autonomous underwater vehicle and each following autonomous underwater vehicle at the current moment; Determine whether the maximum time delay is greater than a preset upper limit of the time delay; If so, according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and a preset speed step size, reduce the speed of the leading autonomous underwater vehicle at the current moment to obtain the speed of the leading autonomous underwater vehicle at the next moment; If not, according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and a preset speed step size, increase the speed of the leading autonomous underwater vehicle at the current moment to obtain the speed of the leading autonomous underwater vehicle at the next moment.

[0013] In a second aspect, an embodiment of the present application provides an autonomous underwater vehicle control device, and the device includes: An acquisition module, configured to acquire the position of a target follower at the current moment, the speed of the target follower at the current moment, and the position, pitch angle, heading, and speed of the leading autonomous underwater vehicle at the current moment. The target follower is any one of multiple follower autonomous underwater vehicles in a vehicle cluster, and the vehicle cluster further includes the leading autonomous underwater vehicle; A determination module, configured to determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment; The determination module is further configured to determine the distance between the target follower and the leading autonomous underwater vehicle at the current moment according to the position of the target follower at the current moment and the position of the leading autonomous underwater vehicle at the current moment; The determination module is further configured to determine the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment; A control module, configured to control the target follower to travel underwater according to the position of the target follower at the next moment and the speed of the target follower at the next moment.

[0014] As an optional implementation manner, the determination module is specifically configured to: Determine the target heading of the target follower according to the heading of the leading autonomous underwater vehicle at the current moment and the heading rotation amount of the target follower from the current moment to the next moment; Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments; Determine the target pitch angle of the target follower according to the pitch angle rotation amount of the target follower from the current moment to the next moment; Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments; Determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, the heading of the target follower at the next moment, and the pitch angle of the target follower at the next moment.

[0015] As an optional implementation manner, the determining module is specifically configured to: Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, the heading errors at the multiple historical moments, the heading proportional integral derivative control parameter at the current moment, and a preset heading step size.

[0016] As an optional implementation manner, the determining module is specifically configured to: Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, the pitch angle errors at the multiple historical moments, the pitch angle proportional integral derivative control parameter at the current moment, and a preset pitch angle step size.

[0017] As an optional implementation manner, the determining module is specifically configured to: Determine whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within a preset safe distance interval; If so, reduce the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment; If not, increase the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment.

[0018] As an optional implementation manner, the determining module is specifically configured to: Determine the first product of the rated maximum speed and a first preset proportional coefficient; Determine the first difference between the speed of the target follower at the current moment and the preset speed step size; Take the maximum value of the first product and the first difference as the speed of the target follower at the next moment.

[0019] As an alternative implementation, the determining module is specifically configured to: Determine a first sum value of the speed of the target follower at the current moment and the preset speed step size; Use the minimum value between the first sum value and the rated maximum speed as the speed of the target follower at the next moment.

[0020] As an alternative implementation, the determining module is further configured to: Determine the maximum communication delay among the communication delays between the leading autonomous underwater vehicle and each following autonomous underwater vehicle at the current moment; Determine whether the maximum delay is greater than a preset delay upper limit; If so, reduce the speed of the leading autonomous underwater vehicle at the current moment according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and the preset speed step size, to obtain the speed of the leading autonomous underwater vehicle at the next moment; If not, increase the speed of the leading autonomous underwater vehicle at the current moment according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and the preset speed step size, to obtain the speed of the leading autonomous underwater vehicle at the next moment.

[0021] In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device is any one of the autonomous underwater vehicles described in the first aspect above. The electronic device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus, and the processor executes the machine-readable instructions to perform the steps of the autonomous underwater vehicle cluster control method described in the first aspect above.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, it performs the steps of the autonomous underwater vehicle cluster control method described in the first aspect above.

[0023] The beneficial effects of the present application are: The present application provides a method for controlling an autonomous underwater vehicle cluster, an electronic device, and a medium. The position, pitch angle, heading, and speed of the leading autonomous underwater vehicle in the vehicle cluster at the current moment are obtained, as well as the positions and speeds of each following autonomous underwater vehicle in the vehicle cluster at the current moment. Each following autonomous underwater vehicle adjusts the position of each following autonomous underwater vehicle at the current moment based on the pitch angle and heading of the leading autonomous underwater vehicle at the current moment and the speed of each following autonomous underwater vehicle at the current moment, to obtain the positions of each following autonomous underwater vehicle at the next moment. According to the positions of each following autonomous underwater vehicle at the current moment and the position of the leading autonomous underwater vehicle at the current moment, the distance between each following autonomous underwater vehicle and the leading autonomous underwater vehicle at the current moment is determined, and according to the distance between each following autonomous underwater vehicle and the leading autonomous underwater vehicle at the current moment, the speed of each following autonomous underwater vehicle at the current moment is adjusted, to obtain the speeds of each following autonomous underwater vehicle at the next moment. Each following autonomous underwater vehicle is controlled to travel to the position of each following autonomous underwater vehicle at the next moment at the speed of each following autonomous underwater vehicle at the next moment respectively. This makes the positions of each following autonomous underwater vehicle and the leading autonomous underwater vehicle in the vehicle cluster relatively fixed at the next moment, improves the directed communication formation of the vehicle cluster, and enhances the communication quality between the leading autonomous underwater vehicle and each following autonomous underwater vehicle, as well as the efficiency and safety of the vehicle cluster's formation travel. Description of the Drawings

[0024] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can also be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic diagram of the formation travel of the vehicle cluster provided by the embodiment of the present application; Figure 2 It is a schematic flowchart of the method for controlling an autonomous underwater vehicle cluster provided by the embodiment of the present application; Figure 3 It is a schematic flowchart of determining the position of the target follower at the next moment of the method for controlling an autonomous underwater vehicle cluster provided by the embodiment of the present application; Figure 4 It is a schematic flowchart of determining the speed of the target follower at the next moment of the method for controlling an autonomous underwater vehicle cluster provided by the embodiment of the present application; Figure 5Schematic flowchart of obtaining the speed of the target follower at the next moment for the autonomous underwater vehicle cluster control method provided by the embodiments of the present application; Figure 6 Another schematic flowchart of obtaining the speed of the target follower at the next moment for the autonomous underwater vehicle cluster control method provided by the embodiments of the present application; Figure 7 Another schematic flowchart of the autonomous underwater vehicle cluster control method provided by the embodiments of the present application; Figure 8 Schematic diagram of direct communication and indirect communication in the vehicle cluster provided by the embodiments of the present application; Figure 9 Schematic diagram of the directed communication formation of the vehicle cluster provided by the embodiments of the present application; Figure 10 Module structure diagram of the autonomous underwater vehicle control device provided by the embodiments of the present application; Figure 11 Schematic diagram of the structure of the electronic device provided by the embodiments of the present application. Detailed implementation manners

[0026] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purposes of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in the present application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations in the flowchart may not be implemented in sequence, and the steps without logical context may be reversed or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present application.

[0027] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts fall within the protection scope of the present application.

[0028] It should be noted that the term "including" will be used in the embodiments of the present application to indicate the existence of the features stated thereafter, but does not exclude the addition of other features.

[0029] In the deep - sea environment, there are many communication constraints such as communication distance limitations, signal attenuation, and noise interference, which affect the communication quality and stability between AUVs, and further affect the efficiency and safety of the formation movement of AUV clusters. Currently, conventional formation movement algorithms such as the leader - follower method, artificial potential field method, fixed formation method, and Boids method are difficult to be effectively applied in the underwater environment, resulting in high energy consumption and communication packet loss rate, and there are communication defects.

[0030] Based on the above problems, an embodiment of this application proposes a method for controlling an autonomous underwater vehicle cluster. At the current moment, the position, pitch angle, heading, and speed of the leader AUV in the vehicle cluster, as well as the positions and speeds of each follower AUV, are obtained. At the current moment, according to the positions and speeds of each follower AUV and the pitch angle and heading of the leader AUV, the positions of each follower AUV at the next moment are determined. And the distances between each follower AUV and the leader AUV at the current moment are determined. According to the distances at the current moment and the speeds of each follower AUV at the current moment, the speeds of each follower AUV at the next moment are determined. Each follower AUV is controlled to move underwater according to the speed of each follower AUV at the next moment and the position of each follower AUV at the next moment. By determining the positions and speeds of each follower AUV at the next moment, the directed communication formation of the AUV cluster is improved, the communication quality between the leader AUV and each follower AUV is improved, and further the efficiency and safety of the formation movement of the AUV cluster are improved.

[0031] Figure 1 For the schematic diagram of the formation movement of the vehicle cluster provided by the embodiment of this application, as Figure 1 shown, the vehicle cluster includes one leader AUV and four follower AUVs. Among them, AUV0 is the leader AUV, and AUV1 - 4 are all follower AUVs. In the formation movement task of the vehicle cluster, the four follower AUVs reach the target task area under the leadership of the leader AUV. Specifically, a communication connection is established between the leader AUV and each follower AUV through an Ultra - Short Baseline (USBL) positioning system. The leader AUV serves as the transmitter of the USBL and sends the position of the leader AUV to each follower AUV that serves as the receiver of the USBL to guide each follower AUV to reach the target task area.

[0032] Figure 2 For the schematic flow diagram of the method for controlling an autonomous underwater vehicle cluster provided by the embodiment of this application, the execution subject of this method can be Figure 1 any one of the AUVs. As Figure 2 shown, this method includes: S201. Obtain the position of the target follower at the current moment, the speed of the target follower at the current moment, and the position, pitch angle, heading, and speed of the leading autonomous underwater vehicle at the current moment. The target follower is any one of multiple following autonomous underwater vehicles in the vehicle cluster, and the vehicle cluster also includes a leading autonomous underwater vehicle.

[0033] Optionally, referring to Figure 1 , the vehicle cluster includes a leading AUV and multiple following AUVs, where the target follower is any one of the multiple following AUVs in the vehicle cluster. Exemplarily, the leading AUV is the AUV0 in Figure 1 , and the target follower is the AUV1 in Figure 1 .

[0034] The leading AUV obtains the position ( , , ), pitch angle , heading , and speed of the leading AUV at the current moment through the Inertial Measurement Unit (IMU) on the leading AUV, and sends the obtained position ( , , ), pitch angle , and heading of the leading AUV at the current moment to the target follower through USBL. The target follower obtains the position ( , , ) of the target follower at the current moment and the speed of the target follower at the current moment through the IMU on the target follower, and receives the position ( , , ), pitch angle , and heading of the leading AUV sent by the leading AUV through USBL.

[0035] S202. Determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment.

[0036] Optionally, the target follower is based on the pitch angle and heading of the leading AUV at the current moment and the speed , adjust the position of the target follower at the current moment ( , , ) to obtain the position of the target follower at the next moment ( , , ).

[0037] S203. Determine the distance between the target follower and the leading autonomous underwater vehicle at the current moment according to the position of the target follower at the current moment and the position of the leading autonomous underwater vehicle at the current moment.

[0038] Optionally, the target follower determines the position of the target follower at the current moment ( , , ) and the position of the leading AUV at the current moment ( , , ), and determines the spatial Euclidean distance between the position of the target follower at the current moment ( , , ) and the position of the leading AUV at the current moment ( , , ). Take this spatial Euclidean distance as the distance between the target follower and the leading AUV at the current moment. Determine the distance between the target follower and the leading AUV at the current moment based on the following formula:

[0039] is and 's spatial Euclidean distance, is the distance between the target follower and the leading AUV at the current moment, ( , , ) is the position of the target follower at the current moment, ( , , ) is the position of the leading AUV at the current moment.

[0040] S204. Determine the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment.

[0041] Optionally, the target follower adjusts the speed of the target follower at the current moment according to the distance between the target follower and the leading autonomous underwater vehicle at the current moment, , obtain the speed of the target follower at the next moment . Exemplarily, if the distance between the target follower and the leading autonomous underwater vehicle at the current moment meets a preset condition, then reduce the speed based on the speed of the target follower at the current moment to obtain the speed of the target follower at the next moment ; if the distance between the target follower and the leading autonomous underwater vehicle at the current moment does not meet the preset condition, then increase the speed based on the speed of the target follower at the current moment to obtain the speed of the target follower at the next moment .

[0042] S205. Control the target follower to travel underwater according to the position of the target follower at the next moment and the speed of the target follower at the next moment.

[0043] Optionally, the target follower controls the target follower to travel at the speed of the target follower at the next moment , , ) and the speed of the target follower at the next moment to the position of the target follower at the next moment ([[]] , , ) according to the position of the target follower at the next moment, so that the position of the target follower and the leading AUV at the next moment is relatively fixed, ensuring normal communication between the target follower and the leading AUV at the next moment.

[0044] In this embodiment, the position, pitch angle, heading, and speed of the leading autonomous underwater vehicle in the vehicle cluster at the current moment are obtained, as well as the positions and speeds of the following autonomous underwater vehicles in the vehicle cluster at the current moment. Each following autonomous underwater vehicle adjusts its position at the current moment based on the pitch angle and heading of the leading autonomous underwater vehicle at the current moment and the speed of each following autonomous underwater vehicle at the current moment, so as to obtain the position of each following autonomous underwater vehicle at the next moment. According to the positions of the following autonomous underwater vehicles at the current moment and the position of the leading autonomous underwater vehicle at the current moment, the distances between the following autonomous underwater vehicles and the leading autonomous underwater vehicle at the current moment are determined, and the speeds of the following autonomous underwater vehicles at the current moment are adjusted according to the distances between the following autonomous underwater vehicles and the leading autonomous underwater vehicle at the current moment, so as to obtain the speeds of the following autonomous underwater vehicles at the next moment. Each following autonomous underwater vehicle is controlled to travel to the position of each following autonomous underwater vehicle at the next moment at the speed of each following autonomous underwater vehicle at the next moment respectively. In this way, the positions of the following autonomous underwater vehicles and the leading autonomous underwater vehicle in the vehicle cluster at the next moment are relatively fixed, improving the directed communication formation of the vehicle cluster, and enhancing the communication quality between the leading autonomous underwater vehicle and each following autonomous underwater vehicle, as well as the efficiency and safety of the vehicle cluster's formation travel.

[0045] Next, the process of determining the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment will be described in detail.

[0046] Figure 3 It is a schematic flowchart of determining the position of the target follower at the next moment for the autonomous underwater vehicle cluster control method provided by the embodiment of the present application. As Figure 3 shown, the step of determining the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment in the above step S202 includes: S301. Determine the target heading of the target follower according to the heading of the leading autonomous underwater vehicle at the current moment and the heading rotation amount of the target follower from the current moment to the next moment.

[0047] Optionally, the target follower obtains the preset heading rotation amount of the target follower from the current moment to the next moment , and according to the heading of the leading AUV at the current moment and the heading rotation amount of the target follower from the current moment to the next moment , determine the target heading of the target follower based on the following formula :

[0048] where, is the target heading of the target follower, is the heading of the leading AUV at the current moment, is the heading rotation amount of the target follower from the current moment to the next moment.

[0049] If the heading rotation amount of the target follower from the current moment to the next moment is less than 180°, then the target heading of the target follower is the sum of the heading of the leading AUV at the current moment and the heading rotation amount of the target follower from the current moment to the next moment; if the heading rotation amount of the target follower from the current moment to the next moment is greater than or equal to 180°, then the target heading of the target follower is the difference between the heading of the leading AUV at the current moment and the heading rotation amount of the target follower from the current moment to the next moment.

[0050] S302. Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments.

[0051] Optionally, the target follower corrects the target heading of the target follower through the heading errors at multiple historical moments according to the target heading of the target follower, the heading of the leading AUV at the current moment, and the heading errors at multiple historical moments, to determine the heading of the target follower at the next moment. Among them, the heading errors at historical moments include the heading error at the previous moment of the current moment and the heading error

[0052] S303. Determine the target pitch angle of the target follower according to the pitch angle rotation amount of the target follower from the current moment to the next moment.

[0053] Optionally, the target follower obtains the preset pitch angle rotation amount of the target follower from the current moment to the next moment, and according to the pitch angle rotation amount , determine the target pitch angle of the target follower based on the following formula :

[0054] where is the target pitch angle of the target follower, is the amount of pitch angle rotation of the target follower from the current moment to the next moment. That is, the amount of pitch angle rotation of the target follower from the current moment to the next moment is used as the target pitch angle of the target follower .

[0055] S304. Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments.

[0056] Optionally, the target follower corrects the target pitch angle of the target follower through the pitch angle errors at multiple historical moments according to the target pitch angle of the target follower , the pitch of the leading AUV at the current moment and the pitch angle errors at multiple historical moments, and determines the pitch angle of the target follower at the next moment . Among them, the pitch angle errors at historical moments include the pitch angle error at the previous moment of the current moment and the pitch angle error at the moment before the previous moment of the current moment . .

[0057] S305. Determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, the heading of the target follower at the next moment, and the pitch angle of the target follower at the next moment.

[0058] Optionally, the target follower is based on the position of the target follower at the current moment ( , , ), the speed of the target follower at the current moment , the heading of the target follower at the next moment and the pitch angle of the target follower at the next moment , and determines the position of the target follower at the next moment ( , , ) based on the following formula:

[0059]

[0060]

[0061] Among them, ( , , ) is the position of the target follower at the next moment, and ( , , ) is the position of the target follower at the current moment. is the speed of the target follower at the current moment, is the heading of the target follower at the next moment, is the pitch angle of the target follower at the next moment.

[0062] In this embodiment, the target follower determines the target heading of the target follower, and then determines the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments. The target follower determines the target pitch angle of the target follower, and then determines the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments. And based on the position of the target follower at the current moment, the position of the target follower at the current moment is adjusted according to the speed of the target follower at the current moment, the heading of the target follower at the next moment, and the pitch angle of the target follower at the next moment to determine the position of the target follower at the next moment. The accuracy of the position of the target follower at the next moment is improved.

[0063] As a possible implementation manner, the step of determining the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments in step S302 includes: Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, the heading errors at multiple historical moments, the heading proportional integral derivative control parameter at the current moment, and the preset heading step size.

[0064] Optionally, the target follower obtains the preset heading proportional integral derivative control parameter at the current moment and the preset heading step size , where the heading proportional integral derivative control parameter at the current moment includes the heading proportional parameter at the current moment , the heading integral parameter at the current moment , and the heading derivative parameter at the current moment .

[0065] The target follower determines according to the target heading of the target follower , the heading of the leading AUV at the current moment , the heading error at the previous moment of the current moment , the heading error at the moment before the previous moment of the current moment , the heading proportional parameter at the current moment , the heading integral parameter at the current moment , the heading differential parameter at the current moment and the heading step size , determine the heading of the target follower at the next moment based on the following formula :

[0066] where, is the heading of the target follower at the next moment, represents taking the minimum value, represents taking the maximum value, is the target heading of the target follower, is the heading of the leading AUV at the current moment, is the heading error at the previous moment of the current moment, is the heading error at the moment before the previous moment of the current moment, is the heading proportional parameter at the current moment, is the heading integral parameter at the current moment, is the heading differential parameter at the current moment, is the heading step size.

[0067] In this embodiment, the target follower determines the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, the heading errors at multiple historical moments, the heading proportional integral differential control parameters at the current moment, and the preset heading step size. The target follower corrects the target heading of the target follower through the heading errors at multiple historical moments to obtain the heading of the target follower at the next moment, improving the accuracy of the heading of the target follower at the next moment.

[0068] As a possible implementation manner, the step of determining the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments in step S304 includes: Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, the pitch angle errors at multiple historical moments, the pitch angle proportional integral differential control parameters at the current moment, and the preset pitch angle step size.

[0069] Optionally, the target follower obtains the preset proportional integral derivative control parameter of the pitch angle at the current moment and the preset pitch angle step size , where the proportional integral derivative control parameter of the pitch angle at the current moment includes the proportional parameter of the pitch angle at the current moment , the integral parameter of the pitch angle at the current moment and the derivative parameter of the pitch angle at the current moment .

[0070] The target follower determines the pitch angle of the target follower at the next moment based on the target pitch angle of the target follower , the pitch angle of the leading AUV at the current moment , the pitch angle error at the previous moment of the current moment , the pitch angle error at the moment before the previous moment of the current moment , the proportional parameter of the pitch angle at the current moment , the integral parameter of the pitch angle at the current moment , the derivative parameter of the pitch angle at the current moment and the pitch angle step size , based on the following formula :

[0071] where is the pitch angle of the target follower at the next moment, represents taking the minimum value, represents taking the maximum value, is the target pitch angle of the target follower, is the pitch angle of the leading AUV at the current moment, is the pitch angle error at the previous moment of the current moment, is the pitch angle error at the moment before the previous moment of the current moment, is the proportional parameter of the pitch angle at the current moment, is the integral parameter of the pitch angle at the current moment, is the derivative parameter of the pitch angle at the current moment, is the pitch angle step size.

[0072] In this embodiment, the target follower determines the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, the pitch angle errors at multiple historical moments, the proportional integral derivative control parameter of the pitch angle at the current moment, and the preset pitch angle step size. The target follower corrects the target pitch angle of the target follower through the pitch angle errors at multiple historical moments to obtain the pitch angle of the target follower at the next moment, improving the accuracy of the pitch angle of the target follower at the next moment.

[0073] Next, a detailed description will be given of the process of determining the speed of the target follower at the next moment based on the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment.

[0074] Figure 4 It is a schematic flowchart of determining the speed of the target follower at the next moment for the autonomous underwater vehicle cluster control method provided by the embodiment of the present application. As Figure 4 shown, the step of determining the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment in step S204 above includes: S401. Determine whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within a preset safe distance interval.

[0075] Optionally, the preset condition in the foregoing embodiment may be that the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within a preset safe distance interval. Among them, the preset safe distance interval is ( ), is the lower limit of the safe distance, is the upper limit of the safe distance.

[0076] The target follower determines whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment, the lower limit of the safe distance, and the upper limit of the safe distance are within the safe distance interval ( ). ).

[0077] Specifically, if , it is determined that the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within the safe distance interval ( ), that is, the distance between the target follower and the leading autonomous underwater vehicle at the current moment meets the preset condition.

[0078] If or , it is determined that the distance between the target follower and the leading autonomous underwater vehicle at the current moment is not within the safe distance interval ( ), that is, the distance between the target follower and the leading autonomous underwater vehicle at the current moment does not meet the preset condition.

[0079] S402. If so, reduce the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and the preset speed step size to obtain the speed of the target follower at the next moment.

[0080] Optionally, if the target follower determines that the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within the safe distance range ( ), obtain the preset rated maximum speed and the preset speed step size , and according to the rated maximum speed , the speed of the target follower at the current moment , and the speed step size , reduce the speed of the target follower at the current moment to obtain the speed of the target follower at the next moment .

[0081] S403. If not, increase the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and the preset speed step size to obtain the speed of the target follower at the next moment.

[0082] Optionally, if the target follower determines that the distance between the target follower and the leading autonomous underwater vehicle at the current moment is not within the safe distance range ( ), obtain the preset rated maximum speed and the preset speed step size , and according to the rated maximum speed , the speed of the target follower at the current moment , and the speed step size , increase the speed of the target follower at the current moment to obtain the speed of the target follower at the next moment .

[0083] In this embodiment, the target follower determines whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within the safe distance range. If so, reduce the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and the speed step size to obtain the speed of the target follower at the next moment; if not, increase the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and the speed step size to obtain the speed of the target follower at the next moment. So that when the target follower travels at the speed of the target follower at the next moment, the distance between the target follower and the leading autonomous underwater vehicle at the next moment is adjusted towards the safe distance range, improving the communication quality of the AUV cluster.

[0084] The following details the process of reducing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment.

[0085] Figure 5 It is a schematic flowchart of obtaining the speed of the target follower at the next moment for the autonomous underwater vehicle cluster control method provided by the embodiment of the present application. As Figure 5 shown, the step of reducing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size in step S402 above to obtain the speed of the target follower at the next moment includes: S501. Determine the first product of the rated maximum speed and the first preset proportionality coefficient.

[0086] Optionally, the target follower determines the first product of the rated maximum speed and the first preset proportionality coefficient according to the rated maximum speed and the first preset proportionality coefficient. Among them, the first preset proportionality coefficient can be . Then the first product of the rated maximum speed and the first preset proportionality coefficient is .

[0087] S502. Determine the first difference between the speed of the target follower at the current moment and the preset speed step size.

[0088] Optionally, the target follower determines the first difference between the speed of the target follower at the current moment and the speed step size according to the speed of the target follower at the current moment and the speed step size as .

[0089] S503. Use the maximum value between the first product and the first difference as the speed of the target follower at the next moment.

[0090] Optionally, perform a maximum value operation on the first product and the first difference to obtain the maximum value between the first product and the first difference, and use the maximum value between the first product and the first difference as the speed of the target follower at the next moment . Determine the speed of the target follower at the next moment based on the following formula :

[0091] When the distance between the target follower and the leader autonomous underwater vehicle at the current moment When it is within the safe distance range ( ), that is, when ), . Among them, is the speed of the target follower at the next moment, represents taking the maximum value, is the first product, is the rated maximum speed, is the first preset proportionality coefficient, is the speed of the target follower at the current moment, is the speed step, is the first difference.

[0092] In this embodiment, when the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within the safe distance range, the target follower determines the first product of the rated maximum speed and the first preset proportionality coefficient, and the first difference between the speed of the target follower at the current moment and the preset speed step. A maximum operation is performed on the first product and the first difference to obtain the maximum value between the first product and the first difference, and the maximum value between the first product and the first difference is used as the speed of the target follower at the next moment. This improves the accuracy of the speed of the target follower at the next moment, and further enables the distance between the target follower and the leading autonomous underwater vehicle at the next moment to also be within the safe distance range.

[0093] Next, the process of increasing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and the preset speed step to obtain the speed of the target follower at the next moment will be described in detail.

[0094] Figure 6 is another flow diagram of obtaining the speed of the target follower at the next moment for the autonomous underwater vehicle cluster control method provided by the embodiment of the present application. As shown in Figure 6 , the step of increasing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and the preset speed step in the above step S403 to obtain the speed of the target follower at the next moment includes: S601. Determine the first sum value of the speed of the target follower at the current moment and the preset speed step.

[0095] Optionally, the target follower determines the first sum value of the speed of the target follower at the current moment and the speed step according to the speed of the target follower at the current moment and the speed step as .

[0096] S602. Use the minimum value between the first sum value and the rated maximum speed as the speed of the target follower at the next moment.

[0097] Optionally, perform a minimum value selection operation on the first sum value and the rated maximum speed to obtain the minimum value between the first sum value and the rated maximum speed and use the minimum value between the first sum value and the rated maximum speed as the speed of the target follower at the next moment . Determine the speed of the target follower at the next moment based on the following formula :

[0098] When the distance between the target follower and the leading autonomous underwater vehicle at the current moment is not within the safe distance interval ( ), that is, when or , . Among them, is the speed of the target follower at the next moment , represents taking the minimum value, is the rated maximum speed, is the speed of the target follower at the current moment, is the speed step, is the first sum value.

[0099] In this embodiment, when the distance between the target follower and the leading autonomous underwater vehicle at the current moment is not within the safe distance interval, the target follower determines the first sum value of the speed of the target follower at the current moment and the preset speed step. Perform a minimum value selection operation on the first sum value and the rated maximum speed to obtain the minimum value between the first sum value and the rated maximum speed, and use the minimum value between the first sum value and the rated maximum speed as the speed of the target follower at the next moment. This improves the accuracy of the speed of the target follower at the next moment, and further adjusts the distance between the target follower and the leading autonomous underwater vehicle at the next moment towards the safe distance interval.

[0100] Figure 7 This is another flowchart of the autonomous underwater vehicle cluster control method provided by the embodiment of the present application. As Figure 7 shown, the method further includes: S701. Determine the maximum communication delay among the communication delays between the leading autonomous underwater vehicle and each following autonomous underwater vehicle at the current moment.

[0101] Optionally, the leading AUV obtains the communication delays between the leading AUV and each following AUV at the current moment, and performs a maximum operation on the communication delays between the leading AUV and each following AUV at the current moment to determine the maximum delay among the communication delays between the leading AUV and each following AUV at the current moment. 。

[0102] S702. Determine whether the maximum delay is greater than a preset delay upper limit.

[0103] Optionally, the leading AUV obtains the preset delay upper limit , and determines whether the maximum delay among the communication delays between the leading AUV and each following AUV at the current moment is greater than the delay upper limit 。

[0104] S703. If so, according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and the preset speed step, reduce the speed of the leading autonomous underwater vehicle at the current moment to obtain the speed of the leading autonomous underwater vehicle at the next moment.

[0105] Optionally, if the leading AUV determines , it obtains the rated maximum speed and the speed step , and according to the rated maximum speed , the speed of the leading AUV at the current moment and the speed step , reduce the speed of the leading AUV at the current moment to obtain the speed of the leading AUV at the next moment 。

[0106] Specifically, the leading AUV determines the second product of the rated maximum speed and the second preset proportionality coefficient according to the rated maximum speed . Among them, the second preset proportionality coefficient can be . Then the second product of the rated maximum speed and the second preset proportionality coefficient is . The leading AUV determines the second difference between the speed of the leading AUV at the current moment and the speed step to be the second difference between the speed of the leading AUV at the current moment and the speed step is . The leading AUV takes the maximum value between the second product and the second difference as the speed of the leading AUV at the next moment . Determine the speed of the leading AUV at the next moment based on the following formula :

[0107] That is, when at this time, . Among them, is the speed of the leading AUV at the next moment, represents taking the maximum value, is the second product, is the rated maximum speed, is the second preset proportionality coefficient, is the speed of the leading AUV at the current moment, is the speed step, is the second difference.

[0108] S704. If not, then according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and the preset speed step, increase the speed of the leading autonomous underwater vehicle at the current moment to obtain the speed of the leading autonomous underwater vehicle at the next moment.

[0109] Optionally, if the leading AUV determines , then according to the rated maximum speed , the speed of the leading AUV at the current moment , and the speed step , increase the speed of the leading AUV at the current moment to obtain the speed of the leading AUV at the next moment .

[0110] Specifically, the leading AUV determines the second sum value of the speed of the leading AUV at the current moment and the speed step as . And take the minimum value of the second sum value and the rated maximum speed as the speed of the leading AUV at the next moment . Determine the speed of the leading AUV at the next moment based on the following formula :

[0111] That is, when at this time, . Among them, is the speed of the leading AUV at the next moment, represents taking the minimum value, is the rated maximum speed, is the speed of the leading AUV at the current moment, is the speed step, is the second sum value.

[0112] In this embodiment, the leader autonomous underwater vehicle determines whether the maximum delay among the communication delays between the leader autonomous underwater vehicle and each follower autonomous underwater vehicle at the current moment is greater than a preset delay upper limit. If so, according to the rated maximum speed, the speed of the leader autonomous underwater vehicle at the current moment, and the speed step size, the speed of the leader autonomous underwater vehicle at the current moment is reduced to obtain the speed of the leader autonomous underwater vehicle at the next moment; if not, according to the rated maximum speed, the speed of the leader autonomous underwater vehicle at the current moment, and the preset speed step size, the speed of the leader autonomous underwater vehicle at the current moment is increased to obtain the speed of the leader autonomous underwater vehicle at the next moment. Determining whether to increase or decrease the speed of the leader autonomous underwater vehicle at the current moment according to the magnitude relationship between the maximum delay and the preset delay upper limit improves the communication quality between each follower autonomous underwater vehicle and the leader autonomous underwater vehicle, and improves the stability of the formation of the vehicle cluster.

[0113] In the embodiment of the present application, the position of the target follower at the next moment and the speed of the target follower at the next moment determined in the autonomous underwater vehicle cluster control method of the foregoing embodiment are simulated and verified in a simulation environment. In order to simulate the communication environment during underwater travel, the communication packet loss of the simulation environment is restricted to determine the actual packet loss rate corresponding to different communication distances.

[0114] Figure 8 is a schematic diagram of direct communication and indirect communication in the vehicle cluster provided by the embodiment of the present application. As Figure 8 shown, the communication types in the vehicle cluster include direct communication and indirect communication. Among them, direct communication means that the leader AUV directly communicates with the directly connected follower AUV, and indirect communication means that the leader AUV directly communicates with the directly connected follower AUV, and this follower AUV then communicates with another follower AUV, so that the other follower AUV indirectly communicates with the leader AUV. Referring to Figure 8 , AUV0 is the leader AUV, and AUV1-6 are all follower AUVs. AUV0 has direct communication with AUV2 and AUV4, and AUV0 has indirect communication with AUV5 and AUV6. The communication data of AUV0 needs to be forwarded to AUV5 and AUV6 respectively through AUV2. AUV0 can communicate directly or indirectly with AUV1 and AUV3.

[0115] If the communication type between AUV and AUV is direct communication, obtain the actual heading of AUV , actual pitch and actual position ( , , ) and AUV The actual position at the current moment ( , , ), determine the actual distance between AUV and AUV at the current moment based on the following formula :

[0116] According to the preset average packet loss rate , the effective communication distance under the preset directed communication constraint , the preset directed communication distance threshold and the previously determined angle between the IMU rays of AUV and AUV , determine the actual packet loss rate corresponding to each actual distance based on the following formula :

[0117] wherein, represents that the actual distance between AUV and AUV at the current moment is less than the directed communication distance threshold , at this time, there is no constraint on directed communication between AUV and AUV , and when the angle between the IMU rays of AUV and AUV is any angle, AUV and AUV can communicate effectively. represents that the actual distance between AUV and AUV at the current moment is greater than or equal to the directed communication distance threshold and less than the effective communication distance under the directed communication constraint , and the angle between the IMU rays of AUV and AUV satisfies the directed communication constraint. represents that the actual distance between AUV and AUV at the current moment ​Greater than or equal to the effective communication distance under the directed communication constraint and less than 1.1 times of , and the AUV and the AUV The included angle between the IMU rays Then it represents the AUV and the AUV The actual distance at the current moment Greater than or equal to 1.1 times of , and the AUV and the AUV The included angle between the IMU rays Does not satisfy the directed communication constraint.

[0118] According to each actual distance The corresponding actual packet loss rate And the preset average direct communication delay And the standard deviation of the direct communication delay , Based on the following formula, determine the direct communication delay of the AUV and the AUV At the current moment :

[0119]

[0120] Among them, Is a normal distribution, Is a real number randomly taken between [0,1).

[0121] According to the AUV and the AUV At the current moment The direct communication delay, determine the direct communication delay and indirect communication delay between the leading AUV and each following AUV, and take the minimum value of the direct communication delay and indirect communication delay between the leading AUV and the following AUV as the communication time intervals between the leading AUV and the following AUV in the simulation environment, and then determine the communication time intervals between the leading AUV and each following AUV in the simulation environment, so that the leading AUV communicates with each following AUV according to each communication time interval respectively, simulating the communication environment of underwater travel.

[0122] Figure 9 This is a schematic diagram of the directed communication formation of the vehicle cluster provided by the embodiment of the present application. In the simulation environment, the positions of each following AUV determined in the foregoing embodiment at the next moment are as Figure 9 Shown, the positions of each following AUV are fixed relative to the leading AUV, and the relative headings and relative pitch angles between different following AUVs are the same.

[0123] Following the AUV Based on the position of the leading AUV at the previous moment of the current moment ( , , ) and the position of the leading AUV at the moment before the previous moment of the current moment ( , , ), determine the heading and pitch of the leading AUV based on the following formula:

[0124]

[0125]

[0126] Following the AUV Based on the heading , pitch of the leading AUV and the position of the leading AUV at the previous moment of the current moment ( , , ), determine the relative position ( of the following AUV relative to the leading AUV ( , , ) based on the following formula:

[0127]

[0128]

[0129] If the communication between the following AUV and the leading AUV is abnormal, the following AUV can sense the positions of the surrounding AUVs of the following AUV through beam ( , , ), and based on the positions of the surrounding AUVs ( , , ) and the position of the following AUV ( , , ), determine the relative position ( of the following AUV relative to the leading AUV ( , , ):

[0130]

[0131]

[0132] By following the AUV The relative position relative to the leading AUV ( , , ) Verify the following AUV Whether it reaches the following AUV at the next moment The position at the next moment, ensuring that the relative positions of each following AUV and the leading AUV are fixed at the next moment, improving the formation of the AUV cluster during travel, and enhancing the efficiency and safety of the AUV cluster traveling in a team.

[0133] Based on the same inventive concept, an autonomous underwater vehicle control device corresponding to the autonomous underwater vehicle cluster control method is also provided in the embodiments of the present application. Since the principle of solving problems by the device in the embodiments of the present application is similar to the above-mentioned autonomous underwater vehicle cluster control method in the embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be elaborated.

[0134] Figure 10 For the module structure diagram of the autonomous underwater vehicle control device provided in the embodiments of the present application, as Figure 10 shown, the device includes: An acquisition module 1001, configured to acquire the position of a target follower at the current moment, the speed of the target follower at the current moment, and the position, pitch angle, heading, and speed of the leading autonomous underwater vehicle at the current moment. The target follower is any one of the multiple following autonomous underwater vehicles in the vehicle cluster, and the vehicle cluster further includes a leading autonomous underwater vehicle.

[0135] A determination module 1002, configured to determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment.

[0136] The determination module 1002 is further configured to determine the distance between the target follower and the leading autonomous underwater vehicle at the current moment according to the position of the target follower at the current moment and the position of the leading autonomous underwater vehicle at the current moment.

[0137] The determination module 1002 is further configured to determine the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment.

[0138] The control module 1003 is configured to control the target follower to travel underwater according to the position of the target follower at the next moment and the speed of the target follower at the next moment.

[0139] As a possible implementation manner, the determination module 1002 is specifically configured to: Determine the target heading of the target follower according to the heading of the leading autonomous underwater vehicle at the current moment and the heading rotation amount of the target follower from the current moment to the next moment.

[0140] Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments.

[0141] Determine the target pitch angle of the target follower according to the pitch angle rotation amount of the target follower from the current moment to the next moment.

[0142] Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments.

[0143] Determine the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, the heading of the target follower at the next moment, and the pitch angle of the target follower at the next moment.

[0144] As a possible implementation manner, the determination module 1002 is specifically configured to: Determine the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, the heading errors at multiple historical moments, the heading proportional integral derivative control parameter at the current moment, and the preset heading step size.

[0145] As a possible implementation manner, the determination module 1002 is specifically configured to: Determine the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, the pitch angle errors at multiple historical moments, the pitch angle proportional integral derivative control parameter at the current moment, and the preset pitch angle step size.

[0146] As a possible implementation manner, the determination module 1002 is specifically configured to: Determine whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within a preset safe distance range.

[0147] If so, reduce the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment.

[0148] If not, increase the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment.

[0149] As a possible implementation manner, the determining module 1002 is specifically configured to: Determine the first product of the rated maximum speed and a first preset proportionality coefficient.

[0150] Determine the first difference between the speed of the target follower at the current moment and the preset speed step size.

[0151] Take the maximum value of the first product and the first difference as the speed of the target follower at the next moment.

[0152] As a possible implementation manner, the determining module 1002 is specifically configured to: Determine the first sum value of the speed of the target follower at the current moment and the preset speed step size.

[0153] Take the minimum value of the first sum value and the rated maximum speed as the speed of the target follower at the next moment.

[0154] As a possible implementation manner, the determining module 1002 is further configured to: Determine the maximum communication delay among the communication delays between the leading autonomous underwater vehicle and each following autonomous underwater vehicle at the current moment.

[0155] Determine whether the maximum delay is greater than a preset delay upper limit.

[0156] If so, reduce the speed of the leading autonomous underwater vehicle at the current moment according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and a preset speed step size to obtain the speed of the leading autonomous underwater vehicle at the next moment.

[0157] If not, increase the speed of the leading autonomous underwater vehicle at the current moment according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and a preset speed step size to obtain the speed of the leading autonomous underwater vehicle at the next moment.

[0158] The embodiments of the present application further provide an electronic device, which is any one of the autonomous underwater vehicles in the foregoing embodiments. For example, Figure 11 As shown, it is a schematic structural diagram of the electronic device provided by the embodiments of the present application, including: a processor 111, a memory 112, and a bus 113. The memory 112 stores machine-readable instructions executable by the processor 111 (for example, Figure 10 the execution instructions corresponding to the acquisition module 1101, the determination module 1102, and the control module 1103 in the device in etc.). When the electronic device runs, the processor 111 communicates with the memory 112 through the bus 113. When the machine-readable instructions are executed by the processor 111, the steps of the autonomous underwater vehicle cluster control method in the foregoing embodiments are executed.

[0159] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the autonomous underwater vehicle cluster control method in the foregoing embodiments are executed.

[0160] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems and devices described above can refer to the corresponding processes in the method embodiments, which will not be elaborated in the present application. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the modules is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces. The indirect couplings or communication connections of the devices or modules can be electrical, mechanical, or other forms.

[0161] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0162] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application.

Claims

1. An autonomous underwater vehicle cluster control method, characterized in that The method includes: Obtaining the position of the target follower at the current moment, the speed of the target follower at the current moment, and the position, pitch angle, heading, and speed of the leading autonomous underwater vehicle at the current moment, where the target follower is any one of multiple following autonomous underwater vehicles in the vehicle cluster, and the vehicle cluster further includes the leading autonomous underwater vehicle; Determining the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment; Determining the distance between the target follower and the leading autonomous underwater vehicle at the current moment according to the position of the target follower at the current moment and the position of the leading autonomous underwater vehicle at the current moment; Determining the speed of the target follower at the next moment according to the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment; Controlling the target follower to travel underwater according to the position of the target follower at the next moment and the speed of the target follower at the next moment.

2. The method according to claim 1, characterized in that The determining the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, and the pitch angle and heading of the leading autonomous underwater vehicle at the current moment includes: Determining the target heading of the target follower according to the heading of the leading autonomous underwater vehicle at the current moment and the heading rotation amount of the target follower from the current moment to the next moment; Determining the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments; Determining the target pitch angle of the target follower according to the pitch angle rotation amount of the target follower from the current moment to the next moment; Determining the pitch angle of the target follower at the next moment according to the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments; Determining the position of the target follower at the next moment according to the position of the target follower at the current moment, the speed of the target follower at the current moment, the heading of the target follower at the next moment, and the pitch angle of the target follower at the next moment.

3. The method according to claim 2, wherein The determining the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, and the heading errors at multiple historical moments includes: Determining the heading of the target follower at the next moment according to the target heading of the target follower, the heading of the leading autonomous underwater vehicle at the current moment, the heading errors at the multiple historical moments, the heading proportional-integral-derivative control parameter at the current moment, and a preset heading step size.

4. The method according to claim 2, wherein Determining the pitch angle of the target follower at the next moment based on the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, and the pitch angle errors at multiple historical moments includes: Determining the pitch angle of the target follower at the next moment based on the target pitch angle of the target follower, the pitch angle of the leading autonomous underwater vehicle at the current moment, the pitch angle errors at multiple historical moments, the pitch angle proportional integral derivative control parameter at the current moment, and a preset pitch angle step size.

5. The method according to claim 1, characterized in that Determining the speed of the target follower at the next moment based on the speed of the target follower at the current moment and the distance between the target follower and the leading autonomous underwater vehicle at the current moment includes: Determining whether the distance between the target follower and the leading autonomous underwater vehicle at the current moment is within a preset safe distance range; If so, reducing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment; If not, increasing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment.

6. The method according to claim 5, characterized in that Reducing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment includes: Determining the first product of the rated maximum speed and a first preset proportionality coefficient; Determining the first difference between the speed of the target follower at the current moment and the preset speed step size; Taking the maximum value of the first product and the first difference as the speed of the target follower at the next moment.

7. The method according to claim 5, wherein Increasing the speed of the target follower at the current moment according to the rated maximum speed, the speed of the target follower at the current moment, and a preset speed step size to obtain the speed of the target follower at the next moment includes: Determining the first sum value of the speed of the target follower at the current moment and the preset speed step size; Taking the minimum value of the first sum value and the rated maximum speed as the speed of the target follower at the next moment.

8. The method according to any one of claims 1 to 7, characterized in that The method further includes: Determining the maximum time delay among the communication time delays between the leading autonomous underwater vehicle and each following autonomous underwater vehicle at the current moment; Determining whether the maximum time delay is greater than a preset time delay upper limit; If so, reducing the speed of the leading autonomous underwater vehicle at the current moment according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and a preset speed step size to obtain the speed of the leading autonomous underwater vehicle at the next moment; If not, increasing the speed of the leading autonomous underwater vehicle at the current moment according to the rated maximum speed, the speed of the leading autonomous underwater vehicle at the current moment, and a preset speed step size to obtain the speed of the leading autonomous underwater vehicle at the next moment.

9. An electronic device, characterized in that, The electronic device is any one of the autonomous underwater vehicles in claims 1-8. The electronic device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. The processor executes the machine-readable instructions to perform the steps of the autonomous underwater vehicle cluster control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, it performs the steps of the autonomous underwater vehicle cluster control method according to any one of claims 1 to 8.

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