CN108549369B - System and method for collaborative formation of multiple unmanned boats under complex sea conditions - Google Patents
System and method for collaborative formation of multiple unmanned boats under complex sea conditions Download PDFInfo
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Abstract
The invention discloses a system and a method for multi-unmanned-boat collaborative formation under complex sea conditions. The cooperative control center sends instructions to each unmanned ship according to the cooperative formation task requirements and the sea wave condition at the position of each unmanned ship; the unmanned ship and the control center complete information interaction through the wireless transmission module; the GPS/IMU module and the environment sensing module respectively give position and attitude information and barrier information of the boat in real time; the navigation obstacle avoidance module and the control module control the unmanned ship to safely and effectively complete the collaborative formation task; the sea condition monitoring module calculates the actual sea wave level according to the information monitored by the sea-going radar. The invention is reliable and reasonable, and can ensure that the cooperative formation of a plurality of unmanned boats can meet the actual formation task requirement under the condition of meeting the safety.
Description
Technical Field
The invention relates to a system and a method for collaborative formation of multiple unmanned boats under complex sea conditions, and belongs to the technical field of unmanned boat collaborative application technology and unmanned boat collaborative formation.
Background
The unmanned surface vehicle is a small-sized surface task platform with autonomous operation capability, and realizes the basic functions of autonomous navigation, autonomous obstacle avoidance, autonomous tracking and the like by carrying sensing equipment such as a GPS, inertial navigation, radar and the like. In addition, different sensing devices can be mounted, and different module devices can be adopted to achieve the task goal. At present, due to the outstanding performance and prospect in the military field, all countries in the world show strong interest in the research and development of military unmanned surface boats. Meanwhile, the unmanned surface vessel has the characteristics of large coverage and low cost in scientific research and civil application, so the unmanned surface vessel also has wide application prospects in the fields.
The cooperative mission of unmanned boats is one way to accomplish the mission with multiple unmanned boats together. The method can effectively overcome the defects that a single boat has a limited perception range to the environment and the form of executing tasks is limited. In practical application, 1+1>2 effect can be achieved. In the field of multi-boat coordination, multi-boat formation is a basic coordination task type, and generally requires that a plurality of boats maintain a fixed formation while advancing to a predetermined target. And then quickly surrounding or quickly striking the target when the target reaches the designated target position.
On the sea surface, the motion of the unmanned ship is greatly influenced by sea waves, and if the influence of the sea waves during actual navigation is not considered, the navigation path of the unmanned ship which is safe and effective is difficult to plan. If the formation mission planning is carried out under the assumption of low sea wave level, and the unmanned boat is actually operated in the environment with high sea wave level, the adjacent unmanned boats participating in the formation are likely to collide. If the formation mission plan suitable for higher safety under higher sea wave level is used, and the formation mission plan actually runs in calm and calm wind, the unmanned boats in the formation are too dispersed to achieve good formation effect due to over conservation.
Disclosure of Invention
The invention aims to provide a system and a method for collaborative formation of multiple unmanned boats under complex sea conditions.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a system for collaborative formation of multiple unmanned boats under complex sea conditions comprises a collaborative control center, a wireless transmission module, a single boat sea condition monitoring module, a single boat environment sensing module, a single boat GPS/IMU module, a single boat navigation obstacle avoidance module and a single boat control module; the cooperative control center sends a moving target instruction to the unmanned ships participating in the patrol task according to the characteristics of the patrol task, the size of a patrol area, the number of the unmanned ships participating in the patrol and the movement condition of each unmanned ship; the single-boat GPS/IMU module is arranged on an unmanned boat participating in patrol and can give out position and posture information of the boat in real time; the single-boat environment sensing module is arranged on an unmanned boat participating in patrol and can give out static barrier information of islands and continents and dynamic barrier information of other ships and naval boats in real time; the single boat navigation obstacle avoidance module is arranged on an unmanned boat participating in patrol, and the subsequent movement speed and direction of the unmanned boat are calculated according to the obstacle information obtained by the single boat environment sensing module and a movement target point sent by the cooperative control center; the single boat control module is arranged on the unmanned boat participating in patrol and can control the unmanned boat to complete patrol tasks according to the moving target instruction given by the single boat navigation obstacle avoidance module; the single-boat sea condition monitoring module uses a navigation radar, the navigation radar is installed at the high position of the deck of the unmanned boat through a support, the sea condition of the sea wave level is calculated through the navigation radar, and then the distance between the unmanned boat in the formation and the adjacent cooperative unmanned boat is calculated; and the wireless transmission module sends the position and the attitude of the unmanned ship, the sea condition information and the environment information to a cooperative control center for processing.
A method for cooperatively forming a plurality of unmanned boats under a complex sea condition uses the system for cooperatively forming a plurality of unmanned boats under a complex sea condition, and comprises the following specific steps:
s01, preparing a formation: sending a certain number of unmanned boats to execute a cooperative formation task according to the actual formation task requirement, distributing an aggregation initial position for the unmanned boats, and after aggregation is finished, moving to a designated end point position in a formation mode;
s02, transmitting the information of the single boat to a cooperative control center: each unmanned ship uploads the position and posture information detected by the single-ship GPS/IMU module, the environment information sensed by the single-ship environment sensing module and the sea condition information detected by the single-ship sea condition monitoring module to the cooperative control center through the wireless transmission module;
s03, the cooperative control center carries out formation task planning: the cooperative control center calculates the next target position to be reached by each unmanned ship to safely and effectively complete the formation task according to the environment map information and the sea wave grade information obtained from each unmanned ship;
s04, issuing a formation task instruction of each unmanned ship in the next time period to the corresponding unmanned ship: sequentially sending target positions to be reached by the next positions of the unmanned boats to the corresponding unmanned boats through the wireless transmission modules;
and S05, all unmanned boats arrive at the formation target point obtained from the cooperative control center, the formation task of the unmanned boats is completed, and then the unmanned boats jump to S02 to continue to execute.
Compared with the prior art, the invention has the outstanding characteristics that:
the collaborative formation system is reliable and reasonable, and can enable the collaborative formation of a plurality of unmanned boats to meet the actual formation task requirement under the condition of meeting the safety. The method solves the problem that the formation condition meeting the actual environmental conditions cannot be generated because the environmental disturbance influence caused by sea waves is not considered in the common cooperative formation, and effectively improves the rationality of the cooperative formation of the unmanned boats.
Drawings
Fig. 1 is a schematic diagram of the system for collaborative formation of multiple unmanned boats under complex sea conditions according to the invention.
Fig. 2 is a schematic diagram of the method for collaborative formation of multiple unmanned boats under complex sea conditions.
Fig. 3 is a schematic diagram of the change of the formation of the cooperative formation when the left unmanned boat detects a relatively large wave.
Detailed Description
The following further describes an embodiment of the present invention with reference to the drawings.
As shown in fig. 1, a system for collaborative formation of multiple unmanned boats under complex sea conditions comprises a collaborative control center 1, a wireless transmission module 2, a single-boat sea condition monitoring module 3, a single-boat environment sensing module 4, a single-boat GPS/IMU module 5, a single-boat navigation obstacle avoidance module 6 and a single-boat control module 7; the cooperative control center 1 sends a moving target instruction to the unmanned ships participating in the patrol task according to the characteristics of the patrol task, the size of a patrol area, the number of the unmanned ships participating in the patrol and the movement condition of each unmanned ship; the single-boat GPS/IMU module 5 is arranged on an unmanned boat participating in patrol and can give out position and posture information of the boat in real time; the single-boat environment sensing module 4 is arranged on an unmanned boat participating in patrol and can give out static barrier information of islands and continents and dynamic barrier information of other ships and naval boats in real time; the single boat navigation obstacle avoidance module 6 is arranged on an unmanned boat participating in patrol, and the subsequent movement speed and direction of the unmanned boat are calculated according to the obstacle information obtained by the single boat environment sensing module 4 and the movement target point sent by the cooperative control center 1; the single boat control module 7 is arranged on the unmanned boat participating in patrol and can control the unmanned boat to complete patrol tasks according to the moving target instruction given by the single boat navigation obstacle avoidance module 6; the single-boat sea condition monitoring module 3 uses a navigation radar which is arranged at the high position of the deck of the unmanned boat through a bracket, and the sea condition of the sea wave level is calculated through the navigation radar, so that the distance between the unmanned boat in the formation and the adjacent cooperative unmanned boat is calculated; the wireless transmission module 2 sends the position and the posture of the unmanned ship, the sea condition information and the environment information to the cooperative control center 1 for processing.
As shown in fig. 2, a method for collaborative formation of multiple unmanned boats under complex sea conditions, using the above system for collaborative formation of multiple unmanned boats under complex sea conditions, comprises the following steps:
s01, preparing a formation: according to the actual formation task demand, a certain number of unmanned boats are dispatched to execute the cooperative formation task, an aggregation initial position is distributed for the unmanned boats, and after aggregation is completed, the unmanned boats move to a designated end position in a formation mode.
S02, transmitting the information of the single boat to the cooperative control center 1: each unmanned ship uploads the position and attitude information detected by the single-ship GPS/IMU module 5, the environment information sensed by the single-ship environment sensing module 4 and the sea condition information detected by the single-ship sea condition monitoring module 3 to the cooperative control center 1 through the wireless transmission module 2.
S03, the cooperative control center 1 performs formation task planning: the cooperative control center 1 calculates the next target position to which each unmanned ship safely and effectively completes the formation task according to the environment map information and the sea wave grade information obtained from each unmanned ship. As shown in fig. 3, when the left unmanned boat of the formation detects relatively large wind waves, in order to ensure the safety of the unmanned boat collaborative formation, the left unmanned boat needs to have a larger interval from the adjacent unmanned boat, so that the target position interval provided by the collaborative control center 1 to the left unmanned boat at the next time is increased.
S04, issuing a formation task instruction of each unmanned ship in the next time period to the corresponding unmanned ship: and sequentially sending the target position to be reached by the next position of each unmanned ship to the corresponding unmanned ship through the wireless transmission module 2.
And S05, all unmanned boats arrive at the formation target point obtained from the cooperative control center 1, the formation task of the unmanned boats is completed, and then the unmanned boats jump to S02 to continue execution.
Claims (2)
1. A system for collaborative formation of multiple unmanned boats under complex sea conditions is characterized by comprising a collaborative control center (1), a wireless transmission module (2), a single-boat sea condition monitoring module (3), a single-boat environment sensing module (4), a single-boat GPS/IMU module (5), a single-boat navigation obstacle avoidance module (6) and a single-boat control module (7); the cooperative control center (1) sends a moving target instruction to the unmanned boats participating in the patrol task according to the characteristics of the patrol task, the size of a patrol area, the number of the unmanned boats participating in the patrol and the movement condition of each unmanned boat; the single-boat GPS/IMU module (5) is arranged on an unmanned boat participating in patrol and can give out position and posture information of the boat in real time; the single-boat environment sensing module (4) is arranged on an unmanned boat participating in patrol and can give out static barrier information of islands and continents and dynamic barrier information of other ships and naval boats in real time; the single boat navigation obstacle avoidance module (6) is arranged on an unmanned boat participating in patrol, and the subsequent movement speed and direction of the unmanned boat are calculated according to the obstacle information obtained by the single boat environment sensing module (4) and a movement target point sent by the cooperative control center (1); the single boat control module (7) is arranged on the unmanned boat participating in patrol and can control the unmanned boat to complete patrol tasks according to the moving target instruction given by the single boat navigation obstacle avoidance module (6); the single-boat sea condition monitoring module (3) uses a navigation radar, the navigation radar is installed at the high position of a deck of the unmanned boat through a support, the sea condition of the sea wave level is calculated through the navigation radar, and then the distance between the unmanned boat in the formation and the adjacent cooperative unmanned boat is calculated; the wireless transmission module (2) sends the position and the posture of the unmanned ship, sea condition information and environment information to the cooperative control center (1) for processing.
2. The method for the collaborative formation of the multiple unmanned boats under the complex sea condition by using the system for the collaborative formation of the multiple unmanned boats under the complex sea condition as claimed in claim 1 is characterized by comprising the following specific steps:
s01, preparing a formation: sending a certain number of unmanned boats to execute a cooperative formation task according to the actual formation task requirement, distributing an aggregation initial position for the unmanned boats, and after aggregation is finished, moving to a designated end point position in a formation mode;
s02, transmitting the information of the single boat to a cooperative control center (1): each unmanned ship uploads the position and attitude information detected by the single-ship GPS/IMU module (5), the environment information sensed by the single-ship environment sensing module (4) and the sea condition information detected by the single-ship sea condition monitoring module (3) to the cooperative control center (1) through the wireless transmission module (2);
s03, the cooperative control center (1) carries out formation task planning: the cooperative control center (1) calculates the next target position to which each unmanned ship safely and effectively completes the formation task according to the environment map information and the sea wave grade information obtained from each unmanned ship;
s04, issuing a formation task instruction of each unmanned ship in the next time period to the corresponding unmanned ship: sequentially sending the target position to be reached by the next position of each unmanned ship to the corresponding unmanned ship through the wireless transmission module (2);
and S05, all unmanned boats arrive at the formation target point obtained from the cooperative control center (1), the formation task of the unmanned boats is completed, and then the unmanned boats jump to S02 to continue execution.
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| CN109407680B (en) * | 2018-12-28 | 2021-06-08 | 大连海事大学 | Distributed target cooperative allocation method for unmanned ship formation reconstruction |
| CN109752015A (en) * | 2018-12-29 | 2019-05-14 | 青岛海洋科学与技术国家实验室发展中心 | Route planning method, computer-readable medium and control device |
| CN109765892B (en) * | 2019-01-16 | 2021-08-10 | 大连海事大学 | Collision self-avoidance formation controller structure of unmanned ship cluster and design method |
| CN110162053A (en) * | 2019-05-28 | 2019-08-23 | 哈尔滨工程大学 | The adaptive behavior fusion method that the more unmanned boats of isomery are formed into columns |
| CN112130549A (en) * | 2019-06-24 | 2020-12-25 | 上海大学 | Unmanned ship formation control system with variable working modes and control method |
| CN110398248B (en) * | 2019-07-22 | 2023-02-28 | 广东华风海洋信息系统服务有限公司 | Navigation obstacle avoidance algorithm based on grid optimization |
| CN111524393A (en) * | 2020-04-07 | 2020-08-11 | 浙江国际海运职业技术学院 | Multi-unmanned-vessel full-coverage path collaborative planning method |
| CN111694355B (en) * | 2020-06-02 | 2022-11-04 | 武汉理工大学 | Ship formation navigation control method, system and storage medium |
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