The invention discloses an environment
sensing system and method based on a coordinated USV group. The environment
sensing system comprises single-vessel sensing modules, a coordinated
control system,
wireless communication modules, GPS / IMU modules and single-vessel control modules. Each single-vessel sensing module comprises a camera and a
laser radar, the
laser radar obtains position and motion information of an object, and the camera identifies the object. The coordinated
control system comprises a coordinated
control unit and a coordinated sensing unit, the coordinated
control unit carries out a coordinated
control algorithm to command motion of the USV group, and the coordinated sensing unit coordinates states of the single-vessel sensing modules. The
wireless communication modules upload state information and environment sensing information of vessels to the coordinated
control system, and also transmits instructions of the coordinated control
system. Each GPS / IMU module obtains position and attitude information of the corresponding vessel, and assists in normal operation of other systems. The environment
sensing system is reasonable in design, high in
system hierarchy, and is easy to realize in the aspects of hardware and
software.