CN108170136A - More unmanned boat formation control system and methods based on wireless sensor network - Google Patents

Abstract

The invention relates to a multi-unmanned boat formation control system based on a wireless sensor network, which includes a UWB navigation module, an unmanned boat control module, an unmanned boat communication module, a shore-based communication module and an unmanned boat shore-based control module, Among them, each unmanned boat in the unmanned boat formation is equipped with a UWB navigation module, an unmanned boat control module and an unmanned boat communication module, and the navigation data output end of each UWB navigation module is connected to the corresponding unmanned boat control module The navigation data input terminal of each unmanned boat control module is connected to the shore-based communication interface of the unmanned boat shore-based control module through the corresponding unmanned boat communication module and the shore-based communication module in turn. The system and method realize the positioning and formation evaluation of the unmanned boat, and realize the control of the multi-unmanned boat formation.

Description

Multi-unmanned boat formation control system and method based on wireless sensor network

technical field

The invention relates to the technical field of unmanned boat navigation, in particular to a multi-unmanned boat formation control system and method based on a wireless sensor network.

Background technique

In recent years, as an indispensable exploration tool, the advantages of unmanned vehicles have gradually become prominent. However, with the increasing complexity and diversity of exploration, some parameter data provided by a single unmanned vehicle cannot meet the needs of current exploration. There is no relevant scheme for multi-unmanned boat formation control in the prior art.

Contents of the invention

The object of the present invention is to provide a multi-unmanned boat formation control system and method based on a wireless sensor network. control.

In order to solve the above technical problems, the present invention discloses a multi-unmanned boat formation control system based on a wireless sensor network, which is characterized in that it includes a UWB (Ultra Wideband) navigation module, an unmanned boat control module, and an unmanned boat communication module. Module, shore-based communication module and unmanned boat shore-based control module, wherein, each unmanned boat in the unmanned boat formation is equipped with a UWB navigation module, an unmanned boat control module and an unmanned boat communication module, and each UWB The navigation data output end of the navigation module is connected to the navigation data input end of the corresponding unmanned boat control module, and the shore-based communication interface of each unmanned boat control module is connected to the unmanned boat through the corresponding unmanned boat communication module and the shore-based communication module. The shore-based communication interface of the shore-based control module;

The UWB navigation module is used to provide unmanned navigation data to the unmanned boat control module;

The unmanned boat control module is used to forward the unmanned boat navigation data to the unmanned boat shore-based control module through the unmanned boat communication module and the shore-based communication module;

The shore-based control module of the unmanned boat is used to perform navigation path matching processing according to the received unmanned platform navigation data, and according to the preset formation and path, and then output the control command corresponding to the unmanned boat;

The unmanned boat control module is also used to receive the control instruction of the unmanned boat from the unmanned boat shore-based control module through the unmanned boat communication module and the shore-based communication module, and control the unmanned boat according to the control instruction of the unmanned boat. boat sport.

A kind of unmanned ship formation control method utilizing above-mentioned system, it is characterized in that, it comprises the steps:

Step 1: Each unmanned boat shore-based control module plans the navigation path and formation formation of the unmanned boat formation according to the map information, and obtains the planned navigation coordinates and heading angles of each unmanned boat in each navigation data sampling cycle;

Step 2: Use the following steps 2.1 to 2.4 to combine the current actual navigation coordinates X _i , Y _i and heading angle θ _i of the unmanned vehicle with the planned navigation coordinates X _ii , Y _ii and heading angle θ _ii in the next navigation data sampling cycle The method is used to calculate the expected course and speed of the unmanned boat, so that the unmanned boat formation can sail according to the planned formation;

Step 2.1: Each UWB navigation module sends the position information data packet of the current corresponding unmanned boat to the shore-based control module of the unmanned boat;

Step 2.2: Each unmanned boat shore-based control module decompresses the obtained unmanned boat position information data packet, and obtains each unmanned boat's current actual navigation coordinates X _i , Y _i and heading angle θ _i , and decompresses each unmanned boat The current actual navigation coordinates X _i , Y _i and course angle θ _i of the human boat are calculated with the planned navigation coordinates X _ii , Y _ii and course angle θ _ii in the next navigation data sampling period to obtain the corresponding The expected speed V _i and rudder angle β _i of the unmanned boat, the calculation formula is as follows:

β _i = θ _ii - θ _i

Among them, T _i is the sampling period of navigation data;

The relationship between the motor speed of the motor unmanned boat and the expected speed of the unmanned boat is as follows:

ω _i =k*V _i

Wherein, k is a conversion parameter, which is a preset value;

Get the corresponding unmanned boat motor speed ω _i and rudder angle β _i in the next voyage data sampling period;

Step 2.3: The shore-based control module of the unmanned boat generates the control commands of each unmanned boat according to the unmanned boat motor speed ω _i and the rudder angle β _i of each unmanned boat in the next navigation data sampling period, and sends each unmanned boat The control commands are sent to the corresponding unmanned boat control modules in the unmanned boat formation;

Step 2.4: Each unmanned boat control module controls the movement of the unmanned boat according to the received control command.

Beneficial effects of the present invention:

The present invention is based on the multi-unmanned boat formation control system scheme of the wireless sensor network, and the UWB module realizes the positioning and formation evaluation of the unmanned boat, and realizes the control of the multi-unmanned boat formation. The formation control position is precise. The improved genetic algorithm based on the elastic grid can quickly carry out path planning. The invention has low cost and good stability, is suitable for the research field of multi-unmanned boat formation, and has good development potential.

The unmanned boat formation control method of the present invention also has the following beneficial effects:

(1) Fully obtain current environmental information. The ability of a single unmanned boat sensor to obtain information is limited. If multiple unmanned boats maintain a certain formation and each unmanned boat is responsible for obtaining the environmental information around itself, it can ensure a relatively complete acquisition of the current operation of the unmanned boat formation. The environmental information of the area is beneficial to the realization of exploration, security patrol and reconnaissance tasks;

(2) Multiple unmanned boats maintain a certain formation to enhance the defense against external invasion;

(3) It can improve work efficiency, and in a specific task, maintaining a specific formation can get twice the result with half the effort;

(4) The robustness of the system can be improved.

Description of drawings

Fig. 1 is a functional block diagram in the present invention.

Among them, 1—UWB navigation module, 2—unmanned boat control module, 3—unmanned boat communication module, 4—shore-based communication module, 5—unmanned boat shore-based control module.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

The multi-unmanned boat formation control system based on wireless sensor network of the present invention, as shown in Figure 1, it includes UWB navigation module 1, unmanned boat control module 2, unmanned boat communication module 3, shore-based communication module 4 and The unmanned boat shore-based control module 5, wherein, each unmanned boat in the unmanned boat formation is equipped with a UWB navigation module 1, an unmanned boat control module 2 and an unmanned boat communication module 3, and each UWB navigation module 1 The navigation data output end of the corresponding unmanned boat control module 2 is connected to the navigation data input end of the corresponding unmanned boat control module 2. The shore-based communication interface of the man-ship shore-based control module 5;

The UWB navigation module 1 is used to provide unmanned navigation data to the unmanned boat control module 2 (the navigation accuracy of the UWB navigation module 1 is relatively high, and the heading angle can be measured);

The unmanned boat control module 2 is used to forward the unmanned boat navigation data to the unmanned boat shore-based control module 5 through the unmanned boat communication module 3 and the shore-based communication module 4;

The shore-based control module 5 of the unmanned boat is used to perform navigation path matching processing according to the received unmanned lift navigation data, and according to the preset formation and path, and then output the control instructions corresponding to the unmanned boat;

The unmanned boat control module 2 is also used to receive the control instruction of the unmanned boat from the unmanned boat shore-based control module 5 through the unmanned boat communication module 3 and the shore-based communication module 4, and follow the control instructions of the unmanned boat Instructions control the movement of the unmanned boat.

The unmanned boat control module 2 includes an ARM module and a DSP drive module, which are used to control the forward direction of the unmanned boat. The ship mechanism includes a propeller and a steering gear that drives the ship. The propeller and the steering gear receive instructions from the control module of the unmanned boat to drive the unmanned boat forward. The unmanned boat control module 2 uses an ARM cortex-A9i.MX6Q processor as a main control chip. The DSP driver modules of the unmanned boat all use TMS320F28335DSP processor as the control chip.

In the above technical solution, the unmanned vehicle navigation data includes position coordinates and course angle information of the unmanned vessel.

In the above technical solution, 2.4G radio frequency communication is adopted between the unmanned boat communication module 3 and the shore-based communication module 4 .

A kind of unmanned ship formation control method utilizing above-mentioned system, it comprises the steps:

Step 1: Each unmanned boat shore-based control module 5 plans the navigation path and formation formation of the unmanned boat formation according to the map information, and obtains each unmanned boat within each navigation data sampling cycle (0.5 seconds is a cycle). Plan navigation coordinates and heading angles;

Step 2: Use the following steps 2.1 to 2.4 to combine the current actual navigation coordinates X _i , Y _i and heading angle θ _i of the unmanned vehicle with the planned navigation coordinates X _ii , Y _ii and heading angle θ _ii in the next navigation data sampling cycle The method is used to calculate the expected course and speed of the unmanned boat, so that the unmanned boat formation can sail according to the planned formation;

Step 2.1: each UWB navigation module 1 sends the position information data packet of the current corresponding unmanned boat to the shore-based control module 5 of the unmanned boat;

Step 2.2: each unmanned boat shore-based control module 5 decompresses the obtained unmanned boat position information data package, and obtains the current actual navigation coordinates X _i , Y _i and heading angle θ _i of each unmanned boat, and decompresses each The current actual navigation coordinates X _i , Y _i and heading angle θ _i of the unmanned boat are calculated with the planned navigation coordinates X _ii , Y _ii and heading angle θ _ii in the next navigation data sampling period to obtain The corresponding unmanned boat expected speed V _i and rudder angle β _i are calculated as follows:

β _i = θ _ii - θ _i

Among them, the relationship between the motor speed of the motor unmanned boat and the expected speed of the unmanned boat is as follows:

ω _i =k*V _i

Among them, T _i is the sampling period of navigation data;

k is the conversion parameter, which is the preset value (generally determined according to the propulsion efficiency of the unmanned boat, the value of k is about one thousandth, the unit of speed is revolution per minute (rpm), and the speed is meter per second (m/s ));

Get the corresponding unmanned boat motor speed ω _i and rudder angle β _i in the next voyage data sampling period;

Step 2.3: the shore-based control module 5 of the unmanned boat generates the control commands of each unmanned boat according to the unmanned boat motor speed ω _i and the rudder angle β _i of each unmanned boat in the next navigation data sampling cycle, and sends each unmanned boat The control commands of the boat are sent to the corresponding unmanned boat control module 2 in the unmanned boat formation;

Step 2.4: Each unmanned boat control module 2 controls the movement of the unmanned boat according to the obtained control command.

In step 2.1 of the above-mentioned technical solution, each UWB navigation module 1 sends the position information data packet of the current corresponding unmanned boat to the shore-based control module 5 of the unmanned boat. The specific method is as follows:

Step 2.1.1: The UWB tags in each UWB navigation module 1 are positioned by measuring the distance from the four UWB base stations, and the current actual navigation coordinates X _i , Y _i and heading angle θ _i of the unmanned boat are obtained;

Step 2.1.2: Each UWB navigation module 1 transmits the obtained location information to the corresponding unmanned boat control module 2, and the unmanned boat control module 2 packs the obtained data; the location information data packet is in 30 bytes of ASCII characters String representation, the specific format is as follows:

Step 2.1.3: The unmanned boat communication module 3 sends the position information data packet obtained from the unmanned boat control module 2 to the shore-based communication module 4;

Step 2.1.4: The shore-based communication module 4 transmits the obtained position information data packet to the corresponding shore-based control module 5 of the unmanned boat through the serial port module of the shore-based system.

In step 2.3 of the above technical solution, the specific method for sending the control commands of each unmanned boat to the corresponding unmanned boat control module 2 in the unmanned boat formation is as follows:

Step 2.3.1: Write the corresponding unmanned boat motor speed ω _i and rudder angle β _i in the next voyage data sampling period obtained in step 2.2 into the command data packet, and send it to each unmanned boat through the shore-based communication module 4. Boat control module 2; where the command data packet is represented by a 30-byte ASCII character string, and the specific format is as follows:

Step 2.3.2: The unmanned boat communication module transmits the command data packet to the corresponding unmanned boat control module 2 through the unmanned boat communication serial port.

In step 2.4 of the above technical solution, each unmanned boat control module 2 controls the motion of the unmanned boat according to the obtained control command. The specific method is:

Step 2.4.1: In the UAV control module 2, the ARM module sends the command data packet received from the UAV communication serial port to the DSP driver module;

Step 2.4.2: The DSP drive module unpacks the received command data packet and analyzes and calculates it to obtain the motor speed and rudder angle required for the motion of the unmanned boat, and sends the speed and rudder angle commands separately The corresponding unmanned control execution module;

Step 2.4.3: The corresponding unmanned lift control execution module drives the motor and steering gear, and changes the speed of the motor and the rudder angle of the steering gear to make the unmanned boat formation sail according to the planned formation and path.

In the step 1, each unmanned boat shore-based control module (5) plans out the navigation path of the unmanned boat formation and the path planning method of the formation formation according to the map information and adopts an improved genetic algorithm based on elastic grid (the The algorithm is a conventional algorithm, see references: Tang Lin, Cai Derong, Huang Meng. Ship path planning based on improved genetic algorithm [J]. Computer Engineering and Design, 2009, 30(6): 1452-1457.; Fan Yunsheng, Zhao Yongsheng, Shi Linlong, Zhang Yue. Global Path Planning for Unmanned Surface Vehicles Based on Electronic Chart Rasterization [J]. China Navigation, 2017, 40(1):47-52.; Wang Lei, Li Ming, Cai Jin Cao, Liu Zhihu. Application Research of Improved Genetic Algorithms in Path Planning of Mobile Robots [J]. Mechanical Science and Technology, 2017, 36(5):711-716.), Solving the current optimal The path, and then locally increase the grid density for the turning point, further path optimization, and so on, so as to reduce the algorithm search space and improve the efficiency of path planning.

The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (8)

1. A multi-unmanned boat formation control system based on wireless sensor network, is characterized in that: it comprises UWB navigation module (1), unmanned boat control module (2), unmanned boat communication module (3), shore A base communication module (4) and an unmanned boat shore-based control module (5), wherein each unmanned boat in the unmanned boat formation is equipped with a UWB navigation module (1), an unmanned boat control module (2) and The unmanned boat communication module (3), the navigation data output end of each UWB navigation module (1) is connected to the navigation data input end of the corresponding unmanned boat control module (2), and each unmanned boat control module (2) shore The base communication interface connects the shore-based communication interface of the unmanned boat shore-based control module (5) through the corresponding unmanned boat communication module (3) and the shore-based communication module (4) in turn; The UWB navigation module (1) is used to provide unmanned vehicle navigation data to the unmanned boat control module (2); The unmanned boat control module (2) is used to forward the unmanned boat navigation data to the unmanned boat shore-based control module (5) through the unmanned boat communication module (3) and the shore-based communication module (4); The shore-based control module (5) of the unmanned boat is used to perform navigation path matching processing according to the received unmanned platform navigation data and according to the preset formation and path, and then output the corresponding control of the unmanned boat. instruction; The unmanned boat control module (2) is also used to receive the control instruction of the unmanned boat from the unmanned boat shore-based control module (5) through the unmanned boat communication module (3) and the shore-based communication module (4), And control the motion of the unmanned boat according to the control instruction of the unmanned boat. 2. The multi-unmanned boat formation control system of wireless sensor network according to claim 1, characterized in that: the unmanned platform navigation data includes position coordinates and heading angle information of the unmanned boat. 3. The multi-unmanned boat formation control system of wireless sensor network according to claim 1, characterized in that: 2.4G radio frequency is adopted between the unmanned boat communication module (3) and the shore-based communication module (4) communication. 4. A method for controlling the formation of unmanned boats utilizing the system according to claim 1, characterized in that it comprises the steps of: Step 1: Each unmanned boat shore-based control module (5) plans the navigation path and formation formation of the unmanned boat formation according to the map information, and obtains the planned navigation coordinates and headings of each unmanned boat within each navigation data sampling period horn; Step 2: Use the following steps 2.1 to 2.4 to combine the current actual navigation coordinates X _i , Y _i and heading angle θ _i of the unmanned vehicle with the planned navigation coordinates X _ii , Y _ii and heading angle θ _ii in the next navigation data sampling cycle The method is used to calculate the expected course and speed of the unmanned boat, so that the unmanned boat formation can sail according to the planned formation; Step 2.1: Each UWB navigation module (1) sends the position information data packet of the current corresponding unmanned boat to the shore-based control module (5) of the unmanned boat; Step 2.2: each unmanned boat shore-based control module (5) decompresses the obtained unmanned boat position information data packet, obtains the current actual navigation coordinates X _i , Y _i and heading angle θ _i of each unmanned boat, and decompresses them out The current actual navigation coordinates X _i , Y _i and heading angle θ _i of each unmanned boat in the system are calculated with the planned navigation coordinates X _ii , Y _ii and heading angle θ _ii in the next navigation data sampling period to obtain the next navigation data sampling The corresponding expected speed V _i and rudder angle β _i of the unmanned boat in the cycle, the calculation formula is as follows: β _i = θ _ii - θ _i Among them, T _i is the sampling period of navigation data; The relationship between the motor speed of the motor unmanned boat and the expected speed of the unmanned boat is as follows: ω _i =k*V _i Wherein, k is a conversion parameter, which is a preset value; Get the corresponding unmanned boat motor speed ω _i and rudder angle β _i in the next voyage data sampling period; Step 2.3: the unmanned boat shore-based control module (5) generates the control commands of each unmanned boat according to the unmanned boat motor speed ω _i and the rudder angle β _i of each unmanned boat in the next navigation data sampling period, and sends each unmanned boat The control commands of the unmanned boat are respectively sent to the corresponding unmanned boat control module (2) in the unmanned boat formation; Step 2.4: Each unmanned boat control module (2) controls the movement of the unmanned boat according to the obtained control command. 5. The unmanned boat formation control method according to claim 4, characterized in that: in the step 2.1, each UWB navigation module (1) sends the position information data packet of the current corresponding unmanned boat to the unmanned boat shore The concrete method of base control module (5) is: Step 2.1.1: The UWB tags in each UWB navigation module (1) are positioned by measuring the distance from the four UWB base stations, and the current actual navigation coordinates X _i , Y _i and heading angle θ _i of the unmanned boat are obtained; Step 2.1.2: Each UWB navigation module (1) transmits the obtained position information to the corresponding unmanned boat control module (2), and the unmanned boat control module (2) packs the obtained data; Step 2.1.3: the unmanned boat communication module (3) sends the position information data packet obtained from the unmanned boat control module (2) to the shore-based communication module (4); Step 2.1.4: The shore-based communication module (4) transmits the obtained position information data packet to the corresponding shore-based control module (5) of the unmanned boat through the serial port module of the shore-based system. 6. the unmanned boat formation control method according to claim 4, is characterized in that: in described step 2.3, the control command of each unmanned boat is sent to the corresponding unmanned boat control module (2) in the unmanned boat formation respectively ) specific method is: Step 2.3.1: Write the corresponding unmanned boat motor speed ω _i and rudder angle β _i in the next voyage data sampling period obtained in step 2.2 into the command data packet, and send it to each station through the shore-based communication module (4). Unmanned boat control module (2); Step 2.3.2: The unmanned boat communication module transmits the command data packet to the corresponding unmanned boat control module (2) through the unmanned boat communication serial port. 7. the unmanned boat formation control method according to claim 4, is characterized in that: in described step 2.4, each unmanned boat control module (2) controls the concrete method of unmanned boat motion according to the control order obtained: : Step 2.4.1: In the unmanned boat control module (2), the ARM module sends the command data packet received from the unmanned boat communication serial port to the DSP driver module; Step 2.4.2: The DSP drive module unpacks the received command data packet and analyzes and calculates it to obtain the motor speed and rudder angle required for the motion of the unmanned boat, and sends the speed and rudder angle commands separately The corresponding unmanned control execution module; Step 2.4.3: The corresponding unmanned lift control execution module drives the motor and steering gear, and changes the speed of the motor and the rudder angle of the steering gear to make the unmanned boat formation sail according to the planned formation and path. 8. The unmanned boat formation control method according to claim 4, characterized in that: in the step 1, each unmanned boat shore-based control module (5) plans the navigation path of the unmanned boat formation according to map information The path planning method of formation and formation uses an improved genetic algorithm based on elastic grids to solve the current optimal path under the grid map, and then locally increase the grid density for the turning point, further path optimization, and so on.