A cooperative encirclement and capture method and system for unmanned surface vessels using DMNMPC with AC encirclement conditions.

Abstract

This invention discloses a collaborative encirclement method and system for unmanned surface vessels (USVs) using DMNMPC (Distributed Non-Controlled Control) combined with AC (Aggressive Containment) encirclement conditions. The method includes the following steps: establishing a self-organizing distributed control model and constructing a cost function and constraints for collaborative encirclement; based on the cost function and constraints, forming an initial encirclement that meets the AC encirclement conditions at a distance outside the detection range of the escape vessel; within one control cycle, obtaining the current nonlinear USV dynamic model and locally linearizing it to obtain a locally linearized model; optimizing the control input sequence of the control vessel according to the predicted states of the escape vessel and its neighboring teammates to obtain the optimal control input sequence; inputting the first control quantity of the optimal control input sequence into the control vessel to obtain the device for the next control cycle, until the escape vessel is successfully encircled.

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