CN107608347A - A kind of distributed AC servo system unmanned boat cluster surrounds tracking - Google Patents
A kind of distributed AC servo system unmanned boat cluster surrounds tracking Download PDFInfo
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Abstract
The present invention relates to unmanned boat formation control technical field, specifically discloses a kind of distributed AC servo system unmanned boat cluster and surrounds tracking, including：Perceive and detection surrounds object, distribute unmanned boat, virtual leader is set；Identification surrounds the mark and overall structure of ship, establishes the kinematics model for surrounding ship；Unmanned boat work compound, the cluster of unmanned boat is carried out, and to surrounding Object tracking；The virtual leader of Real time identification, until kinetic coordinate system overlaps, detour surrounding and seize with surrounding object motion coordinate system.The present invention provides a kind of distributed AC servo system unmanned boat cluster and surrounds tracking, using database to surrounding the matching of object motion model, the formation form of unmanned boat of being not limited to is surrounded to surround object, it can efficiently be followed the trail of in combination with Artificial Potential Field and expulsion surrounds object, there is safety, quick, efficiency high.
Description
Technical field
The present invention relates to unmanned boat formation control technical field, specifically discloses a kind of distributed AC servo system unmanned boat cluster and encloses
Chase after tracking.
Background technology
Unmanned boat is a kind of complete autonomous perception, the water surface ship of service ability.It has small volume, speed of a ship or plane height, endurance
By force, handling strong, the features such as being swift in response.Unmanned boat can realize water quality monitoring, cruise tracking under broad river basin and marine site
Etc. task.Also it can realize the special duties such as information investigation, military force strike in the war in future simultaneously.Unmanned boat technology by
The attention of various countries, it is significant to carry out the research of unmanned boat work compound.
The unmanned boat cluster of work compound can improve investigative range, lifting operating efficiency.Unmanned boat collection group energy is multiple simultaneously
Multitask is performed under the high environment of miscellaneous degree, there is very important advantage.The feelings such as our marine site, illegal fishing are swarmed into for enemy's ship
Condition, it can surround and expel by unmanned boat distributed AC servo system.
But enemy's ship when being found forms of motion do not fix, and oppose ship also can be as the situation of surrounding and seize be become accordingly
Change, great difficulty is caused so as to surround and seize enemy's ship to unmanned boat.
Therefore, need a kind of besiege and chase badly and oppose the method for ship more efficiently.
The content of the invention
In order to overcome shortcoming and defect present in prior art, it is an object of the invention to provide one kind more efficiently
, for besiege and chase enemy ship distributed AC servo system unmanned boat cluster surround tracking.
To achieve the above object, the present invention uses following scheme.
A kind of distributed AC servo system unmanned boat cluster surrounds tracking, including：
Perceive and detection surrounds object, distribute unmanned boat, the virtual leader in unmanned boat is set；
Identification surrounds the mark and overall structure of object, establishes the kinematics model for surrounding object；
Unmanned boat work compound, the cluster of unmanned boat is carried out, and to surrounding Object tracking；
The virtual leader of Real time identification is with surrounding object motion coordinate system, until the coordinates of motion of the virtual leader with surrounding object
System overlaps, and collaboration unmanned boat detour surrounding and seize to surrounding object.
As the presently preferred embodiments, perceive and detection surrounds object, distribute unmanned boat, the virtual leader in unmanned boat is set
Specially：
Obtain the information of water environment in real time using environment perception technology, and scene parsing is carried out to water environment；
Using multi-source data processing and information fusion method, Multi-source Information Fusion model is established, and carry out to surrounding subject object
Identification；
According to surround object number amount and type distribute varying number unmanned boat, each surround object distribute at least three nobody
Ship is surrounded；The unmanned boat for surrounding object is detected at first, and at least two adjacent unmanned boats enclose to surrounding object
Chase after；
Detect outside the unmanned boat certain limit d for surrounding object, set at first on the direction that tracking surrounds object, and in distance
Virtual leader.
As the presently preferred embodiments, scene, which parses, is specially：
Gather picture and by picture segmentation into several small pictures, the region of same color in small picture, texture is merged；
Extract and be different from the characteristic value of the color, texture of environment as ship in picture region；
Set according to the characteristic value of ship and train grader to be identified and track ship；
Examine the feature value division of ship whether correct using feedback mechanism.
As the presently preferred embodiments, establish and surround the kinematics model of ship and be specially：
The mark and overall structure of ship are surrounded according to identification, in the Ship Types database search established；
If finding the Ship Types to match, establish effective, accurate kinematics model and model power according to Ship Types and join
Number；
It is real-time according to the draft, yaw angle, course, the speed of a ship or plane, acceleration that detect if not finding the Ship Types to match
Structure surrounds object motion model.
As the presently preferred embodiments, unmanned boat, which detours, surrounds and seize specially：
Unmanned boat tracking surrounds object and the virtual leader of Real time identification is with surrounding object motion coordinate system；
If virtual leader overlaps with surrounding object motion coordinate system, distance between collaboration unmanned boat and virtual leader is set
To be equal to collaboration unmanned boat and surrounding the distance of object；If virtual leader and misaligned, the nothing that surrounds object motion coordinate system
People's ship continues to keep d track in ranges to surround object with virtual leader；
Artificial potential-energy function control input is set, unmanned boat is reached minimum radius R with overall potential energy and is carried out to surrounding object
Detour, while keep the distance between unmanned boat；
Warning surrounds object and judges to surround Obj State, if surrounding object stopping, centered on surrounding object, distance R is half
Footpath, unmanned boat carry out counterclockwise turn traveling；If surrounding object keeps constant speed drive, unmanned boat carries out inverted v-shaped formation and chased after
Track；If surrounding object to give it the gun, the cluster of unmanned boat is re-started.
As the presently preferred embodiments, unmanned boat is in tracking surrounds Object Process, and virtual leader is according to surrounding object motion
State makes the change for being synchronized with and surrounding object motion state, is specially：
The non-inertial kinetic coordinate system of horizontal plane is established, using virtual leader's center of gravity as the origin of coordinates, line direction before virtual leader
For ordinate y-axis positive direction, the direction vertical with y-axis is horizontal x-axis positive direction to the right, perpendicular toPlanar horizontal is downward
For z-axis positive direction（It is z-axis positive direction to be perpendicularly oriented to sea）, shown according to image to surrounding the analysis of object stressing conditions to sentence
It is disconnected to surround object motion state：
Shown according to image to surrounding the analysis of object stressing conditions to judge to surround object motion state：
It is actual mass when shipping is dynamic,It is illustrated respectively in lateral velocity, the longitudinal direction speed of origin of coordinates O hull
Degree, yaw rate；Expression surrounds coordinate of the object relative to origin of coordinates O,Represent O points around z respectively
The rotary inertia of axle, G points around z-axis rotary inertia；Represent that O points turn around the rotation of the total moment of face, G points of z-axis respectively
Square,Represent to surround the component of external force that object is subject in x-axis, y-axis respectively；
Image parameter speed, position, quality, torque are surrounded according to what is detected, virtual leader, which makes being synchronized with, surrounds object
The change of motion state.
As the presently preferred embodiments, unmanned boat is in surrounding and seize and surrounding Object Process, each unmanned boat automatically control itself speed with
Collision free, it is specially：
The two-dimensional space inertial coodinate system of horizontal plane is established, to cooperate with unmanned boat and virtual leader to be located at coordinate system first
Quadrant；
According to principle of dynamics, unmanned boat Collaborative Control is as follows：Assuming that collaboration unmanned boat has N,, motion
Situation analysis is：
It is the position vector of unmanned boat；It is the velocity vector of unmanned boat；It is
Control input, resolve into two components：,It is controlled quentity controlled variable caused by artificial potential energy,It is itself speed
Controlled quentity controlled variable, T represents transposition vectorial in mathematics.
As the presently preferred embodiments, collaboration unmanned boat voluntarily adjusts the targets such as course, the speed of a ship or plane, with the fortune of synchronous virtual leader
Dynamic state, it is specially：
The initial heading and the speed of a ship or plane that surround object motion model, set virtual leader establishedInitial position, design
Control algolithm, analysis process are as follows：
For core control input,,It is basisIndividual unmanned boat is related to virtual leader's
Distance decision, Artificial potential functions,It is adjustmentIndividual unmanned boat and the speed of virtual leader.
Beneficial effects of the present invention：A kind of distributed AC servo system unmanned boat cluster is provided and surrounds tracking, utilizes database
Matching to opposing ship kinematics model, the formation form of unmanned boat of being not limited to is surrounded to enemy's ship, in combination with Artificial Potential Field
Enemy's ship can be efficiently followed the trail of and expelled, there is safety, quick, efficiency high.
Brief description of the drawings
Fig. 1 is the method flow diagram of the embodiment of the present invention.
Fig. 2 is the schematic diagram that target identification of the embodiment of the present invention establishes principle process with kinematics model.
Fig. 3 is the schematic diagram of kinematics establishment of coordinate system of the embodiment of the present invention.
Fig. 4 is that the schematic diagram for surrounding object is surrounded and seize in tracking of the embodiment of the present invention.
Embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and accompanying drawing
Bright, the content that embodiment refers to not is limitation of the invention.
Present embodiments provide a kind of distributed AC servo system unmanned boat cluster and surround tracking, including：
Such as Fig. 1, perceived and detection surrounds object, according to number of objects distribution unmanned boat is surrounded, virtual leader is set.Its
In be related to using multi-source data handle and integration technology, the environment sensing based on image information, utilize target detection selection search
Method environment parsing and target identification are carried out to target area.Scene parsing is carried out for complex environment, to picture after taking pictures
In be divided into many small pictures to be analyzed, there is same color, the region merging technique of texture, ultimately form several pieces it is larger
Region.Comprising main body ship, background sky, ocean etc. in region, then shape, the motion state of ship are observed, wherein different from ring
The color in border, texture are the performances of ship characteristic value.Set according to the characteristic value of ship and train grader ship is identified and with
Track.When training grader, various pictures can be inputted, main body has tank, aircraft, automobile, ship etc. in picture.Scene also has width
Sea state under the various weather such as under wealthy marine site, foggy weather, storm.The purpose of training grader is how multiple
Ship and environment are made a distinction under heterocycle border, and to the effective identification of hull and tracking.Feedback mechanism is the feature value division for examining ship
It is whether correct, it is incorrect, need to change characteristic value.
Number amount and type according to object is surrounded distribute unmanned boat, and the unmanned boat of distribution interrupts the formation being carrying out and appointed
Business, carry out cluster and surrounded and seize to surrounding object tracing.In the present embodiment, three unmanned boats of distribution surround and seize surrounding object.Such as figure
4, first unmanned boat for finding to surround object is arranged to No. 1 ship, is numbered successively according to No. 1 ship distance afterwards, with No. 1
The adjacent ship of ship and closer to the distance for No. 2, adjacent unmanned boat is No. 3 in addition.No. 2 ships and No. 3 ships adjacent with No. 1 ship,
Depart from original formation and formation, preparation is tracked to surrounding object.Meanwhile in No. 1 ship and the line for surrounding object water plane
On, outside No. 1 ship d rice of unmanned boat, the virtual leader in unmanned boat is set.
Wherein, virtual leader's scope d value settings are,To find to surround the unmanned boat and phase of object
The safe distance of adjacent surrounding unmanned boat collision free.
According to surrounding of the recognizing ship type that mark on object belongs to or the structure of ship, in the Ship Types number established
According to library searching, if finding the Ship Types to match, you can the data that object is surrounded according to this in database are established effectively, accurately
Kinematics model and model kinetic parameter；If not finding, according to detect draft, yaw angle, course, the speed of a ship or plane, plus
Structure surrounds object motion model to speed in real time.
Establish virtual leader and surround and connect each other between object, and according to surrounding the object speed of a ship or plane and course angle, during interval
In quarter, virtual leader, which makes, is synchronized with the change for surrounding object.Such as Fig. 3, the non-inertial kinetic coordinate system of horizontal plane is established, with void
It is the origin of coordinates to intend leader's center of gravity, and line direction is ordinate y-axis positive direction before virtual leader, the direction vertical with y-axis to
The right side is horizontal x-axis positive direction, perpendicular toPlanar horizontal is z-axis positive direction downwards（It is square for z-axis to be perpendicularly oriented to sea
To）, shown according to image to surrounding the analysis of object stressing conditions to judge to surround object motion state：
Wherein,。 It is actual mass when shipping is dynamic,
It is illustrated respectively in the lateral velocity, longitudinal velocity, yaw rate of origin of coordinates O hull；Expression surrounds ship phase
For origin of coordinates O coordinate,Represent respectively O points around the rotary inertia of z-axis, G points around z-axis rotary inertia；O points are represented respectively around total moment of face of z-axis, the rotational torque of G points,Represent to surround what object was subject to respectively
Component of the external force in x-axis, y-axis；
Object velocity, position, quality, torque are surrounded according to what is detected, virtual leader, which makes being synchronized with, surrounds object motion
The change of state.
No. 1, No. 2, No. 3 unmanned boat work compounds, it is tracked to surrounding object and surrounds, and to surrounding Object tracking control
System.
No. 1, No. 2, itself speed is automatically controlled with collision free between No. 3 unmanned boats.Wherein specifically, with horizontal plane
Two-dimensional space, inertial coodinate system is established, ensure No. 1, No. 2, No. 3 unmanned boats and virtual leader are in coordinate system first quartile.
According to principle of dynamics, unmanned boat Collaborative Control model is as follows, it is assumed that and collaboration unmanned boat has 3,={1,2,3}
Its simple kinematical equation is：
Wherein,It is unmanned boatPosition vector；It is unmanned boatSpeed to
Amount,It is unmanned boatControl input, resolve into two components：,It is unmanned boatArtificial potential energy
Caused controlled quentity controlled variable, dependent on the distance between adjacent two ship, serve the effect of collision free and polymerization.Dependent on week
The average speed of ship is enclosed, reflects unmanned boatThe controlled quentity controlled variable of itself speed.Unmanned boat 1, No. 2, No. 3 voluntarily adjust course, boat
The targets such as speed, with the motion state of synchronous virtual leader, it is specially：
Object motion model is surrounded according to foundation, sets initial heading and the speed of a ship or plane of virtual leader, initial position
.Design control algolithm so that unmanned boat, which can adjust course and the speed of a ship or plane, can follow virtual leader.Its equation of motion is
For core control input, 。It is basisIndividual unmanned boat is related to virtual leader's
The Artificial potential functions that distance determines.It is adjustmentIndividual unmanned boat and the speed of virtual leader, so as to follow virtual leader
Person.
The speed of a ship or plane of virtual leader and course, in a certain time interval without changing, basis is enclosed after intervals
The relative speed of a ship or plane and course for chasing after object are voluntarily adjusted.
Its core concept of Artificial Potential Field Method is that the surrounding environment of motion is abstracted as into an artificial field of force, and target point is to nothing
People's ship produces gravitation, and barrier produces repulsion to unmanned boat.DesignPotential-energy function controlled quentity controlled variable.
When G points overlap virtual leader in kinetic coordinate system with surrounding object, change strategy.Now, unmanned boat is same
Cluster is had been realized between virtual leader and has carried out effective tracking strategy to surrounding object.
Object security is surrounded in distance and effectively in following range, resets unmanned boat and the spacing of virtual leader
From also corresponding to unmanned boat and surround the distance of object.And the Artificial Potential Field control of the front construction control input of modificationPortion
Point, proceed by surround and seize and surround object.
The unmanned boat of virtual leader is followed, artificial potential-energy function control input is setSo that the gesture of all unmanned boats
Overall potential energy minimum can be reached on distance radius R circle.To cause overall potential energy minimum, unmanned boat cluster and change speed
Degree, keep two ships apart from while, detoured to surrounding object.
Warning surrounds object, allows its slow down.After surrounding object and stopping centered on surrounding object, distance R is half
Footpath, unmanned boat carry out counterclockwise turn traveling, reach and surround and seize the purpose for surrounding object, realize circular form into columns.If surround object guarantor
Constant speed drive is held, unmanned boat carries out inverted v-shaped formation.If surrounding object not give it the gun, the cluster of unmanned boat is re-started.
Above content is only presently preferred embodiments of the present invention, for one of ordinary skill in the art, according to the present invention's
Thought, there will be changes, this specification content should not be construed as to the present invention in specific embodiments and applications
Limitation.
Claims (8)
1. a kind of distributed AC servo system unmanned boat cluster surrounds tracking, it is characterised in that including：
Perceive and detection surrounds object, distribute unmanned boat, the virtual leader in unmanned boat is set；
Identification surrounds the mark and overall structure of object, establishes the kinematics model for surrounding object；
Unmanned boat work compound, the cluster of unmanned boat is carried out, and to surrounding Object tracking；
The virtual leader of Real time identification is with surrounding object motion coordinate system, until the coordinates of motion of the virtual leader with surrounding object
System overlaps, and collaboration unmanned boat detour surrounding and seize to surrounding object.
2. a kind of distributed AC servo system unmanned boat cluster according to claim 1 surrounds tracking, it is characterised in that perceives
Object is surrounded with detection, distributes unmanned boat, sets the virtual leader in unmanned boat to be specially：
Obtain the information of water environment in real time using environment perception technology, and scene parsing is carried out to water environment；
Using multi-source data processing and information fusion method, Multi-source Information Fusion model is established, and be identified to surrounding object；
Number amount and type according to object is surrounded distribute the unmanned boat of varying number, each surround object and at least match somebody with somebody three unmanned boats
Surrounded；The unmanned boat for surrounding object is detected at first, and at least two adjacent unmanned boats surround to surrounding object；
On the direction that tracking surrounds object, and distance detects outside the unmanned boat certain limit d for surrounding object at first, sets empty
Intend leader.
3. a kind of distributed AC servo system unmanned boat cluster according to claim 2 surrounds tracking, it is characterised in that scene
Parsing is specially：
Picture is gathered to scene and by picture segmentation into several small pictures, the region of same color in small picture, texture is entered
Row merges；
Extract and be different from the characteristic value of the color, texture of environment as ship in picture region；
Set according to the characteristic value of ship and train grader to be identified and track ship；
Examine the feature value division of ship whether correct using feedback mechanism.
4. a kind of distributed AC servo system unmanned boat cluster according to claim 1 surrounds tracking, it is characterised in that establishes
The kinematics model for surrounding object is specially：
Identification surrounds the mark and overall structure of object, and object data is surrounded in the Ship Types database search established；
If finding the Ship Types to match, kinematics model and model kinetic parameter are established according to Ship Types；
It is real-time according to the draft, yaw angle, course, the speed of a ship or plane, acceleration that detect if not finding the Ship Types to match
Structure surrounds object motion model.
5. a kind of distributed AC servo system unmanned boat cluster according to claim 2 surrounds tracking, it is characterised in that nobody
Ship detours to surrounding object and surrounded and seize specially：
Unmanned boat tracking surrounds object and the virtual leader of Real time identification is with surrounding object motion coordinate system；
If virtual leader overlaps with surrounding object motion coordinate system, distance between collaboration unmanned boat and virtual leader is set
For equal to collaboration unmanned boat and the distance for surrounding object；If virtual leader is misaligned with surrounding object motion coordinate system, nobody
Ship continues to keep d track in ranges to surround object with virtual leader；
Artificial potential-energy function control input is set, unmanned boat is reached minimum radius R with overall potential energy and is carried out to surrounding object
Detour, while keep the distance between unmanned boat；
Warning surrounds object and judges to surround Obj State, if surrounding object stopping, centered on surrounding object, distance R is half
Footpath, unmanned boat carry out counterclockwise turn traveling；If surrounding object keeps constant speed drive, unmanned boat carries out inverted v-shaped formation and chased after
Track；If surrounding object to give it the gun, the cluster of unmanned boat is re-started.
6. a kind of distributed AC servo system unmanned boat cluster according to claim 1 surrounds tracking, it is characterised in that also wraps
Include, in tracking surrounds Object Process, virtual leader surrounds pair according to surrounding object motion state and make being synchronized with unmanned boat
As the change of motion state, it is specially：
The non-inertial kinetic coordinate system of horizontal plane is established, using virtual leader's center of gravity as the origin of coordinates, line direction before virtual leader
For ordinate y-axis positive direction, the direction vertical with y-axis is horizontal x-axis positive direction to the right, perpendicular toPlanar horizontal is downward
For z-axis positive direction, shown according to image to surrounding the analysis of object stressing conditions to judge to surround object motion state：
It is actual mass when shipping is dynamic,It is illustrated respectively in lateral velocity, the longitudinal direction speed of origin of coordinates O hull
Degree, yaw rate；Coordinate of the hull relative to origin of coordinates O is represented,Represent O points around z-axis respectively
Rotary inertia, G points around z-axis rotary inertia；O points are represented respectively around total moment of face of z-axis, the rotational torque of G points,Represent to surround the component of external force that object is subject in x-axis, y-axis respectively；
Object velocity, position, quality, torque are surrounded according to what is detected, virtual leader, which makes being synchronized with, surrounds object motion
The change of state.
7. a kind of distributed AC servo system unmanned boat cluster according to claim 1 surrounds tracking, it is characterised in that also wraps
Include, for unmanned boat in surrounding and seize and surrounding Object Process, each unmanned boat automatically controls itself speed with collision free, is specially：
The two-dimensional space inertial coodinate system of horizontal plane is established, to cooperate with unmanned boat and virtual leader to be located at coordinate system first
Quadrant；
Unmanned boat automatically analyzes and controls itself speed：Collaboration unmanned boat has N,, motion conditions are：
It is the position vector of unmanned boat；It is the velocity vector of unmanned boat；It is control
System input, resolves into two components：,It is controlled quentity controlled variable caused by artificial potential energy,It is itself speed
Controlled quentity controlled variable, T represent transposition vectorial in mathematics.
8. a kind of distributed AC servo system unmanned boat cluster according to claim 1 surrounds tracking, it is characterised in that also wraps
Include, collaboration unmanned boat voluntarily adjusts course, the speed of a ship or plane, with the motion state of synchronous virtual leader, is specially：Foundation surrounds object
Kinematics model, set initial heading and the speed of a ship or plane of virtual leaderInitial position,
For core control input,,It is basisThe distance of individual unmanned boat and virtual leader determine artificial
Potential field function,It is adjustmentIndividual unmanned boat and the speed of virtual leader.
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