一种无人艇集群编队控制方法及装置
By employing undirected communication topology and aperiodic discrete sampling communication mechanism, combined with kinematic and dynamic models, a leaderless formation reference point and reference frame are constructed, solving the network congestion and dependency problems in unmanned surface vessel swarm formation control and achieving stable formation control in complex marine environments.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HARBIN ENG UNIV
- Filing Date
- 2026-05-13
- Publication Date
- 2026-07-17
AI Technical Summary
In the control of unmanned surface vessel (USV) swarms, there are problems such as network congestion due to limited communication bandwidth and strong dependence on the leader USV, resulting in insufficient control stability.
By employing an undirected communication topology and an aperiodic discrete sampling communication mechanism, combined with kinematic and dynamic models, a leaderless formation reference point and reference frame are constructed. Through state expansion and error system decomposition, a virtual control law is generated and converted into a real control law, thereby realizing distributed formation control of the unmanned surface vessel swarm.
In confined communication environments, it improves the robustness and control stability of unmanned surface vessel (USV) swarm formations, reduces data transmission latency and communication failure risks, and ensures formation integrity and motion consistency.
Smart Images
Figure CN122172860B_ABST