CN108170136A - More unmanned boat formation control system and methods based on wireless sensor network - Google Patents
More unmanned boat formation control system and methods based on wireless sensor network Download PDFInfo
- Publication number
- CN108170136A CN108170136A CN201711345108.4A CN201711345108A CN108170136A CN 108170136 A CN108170136 A CN 108170136A CN 201711345108 A CN201711345108 A CN 201711345108A CN 108170136 A CN108170136 A CN 108170136A
- Authority
- CN
- China
- Prior art keywords
- unmanned boat
- control module
- bank base
- navigation
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 59
- 238000005070 sampling Methods 0.000 claims description 23
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 241000282376 Panthera tigris Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of more unmanned boat formation control systems based on wireless sensor network, it includes UWB navigation modules, unmanned boat control module, unmanned boat communication module, bank base communication module and unmanned boat bank base control module, wherein, unmanned boat is equipped with UWB navigation modules in forming into columns in each unmanned boat, unmanned boat control module and unmanned boat communication module, the navigation data output terminal of each UWB navigation modules connects the navigation data input terminal of corresponding unmanned boat control module, each unmanned boat control module bank base communication interface passes sequentially through the bank base communication interface that corresponding unmanned boat communication module connects unmanned boat bank base control module with bank base communication module.The system and method realize the positioning of unmanned boat and the assessment of formation, realize the control formed into columns to more unmanned boats.
Description
Technical field
The present invention relates to unmanned boat field of navigation technology, and in particular to a kind of more unmanned boats based on wireless sensor network are compiled
Team's control system and method.
Background technology
In recent years, unmanned boat is gradually highlighted as a kind of essential exploration tool, advantage.However, with exploration
Complexity and multifarious increase, only by single unmanned boat provide some supplemental characteristics cannot meet to currently exploring
Needs.In the prior art without the relevant programme of more unmanned boat formation controls.
Invention content
The purpose of the present invention is to provide a kind of more unmanned boat formation control system and methods based on wireless sensor network,
The system and method realize the positioning of unmanned boat and the assessment of formation, realize the control formed into columns to more unmanned boats.
In order to solve the above technical problems, a kind of more unmanned boat formation controls based on wireless sensor network disclosed by the invention
System, it is characterised in that：It includes UWB (Ultra Wideband) navigation module, unmanned boat control module, unmanned boat communication mould
Block, bank base communication module and unmanned boat bank base control module, wherein, unmanned boat is equipped with UWB in each unmanned boat in forming into columns and leads
Model plane block, unmanned boat control module and unmanned boat communication module, the navigation data output terminal connection of each UWB navigation modules correspond to
Unmanned boat control module navigation data input terminal, each unmanned boat control module bank base communication interface passes sequentially through corresponding
Unmanned boat communication module connects the bank base communication interface of unmanned boat bank base control module with bank base communication module；
The UWB navigation modules endure navigation data for providing nobody to unmanned boat control module；
The unmanned boat control module passes through unmanned boat communication module and bank base communication mould for nobody to be endured navigation data
Block is transmitted to unmanned boat bank base control module；
The unmanned boat bank base control module be used for according to receive nobody endure navigation data, and set according to default
Formation and path are made to carry out guidance path matching treatment, then export the control instruction of corresponding unmanned boat；
The unmanned boat control module is additionally operable to receive from nobody by unmanned boat communication module and bank base communication module
The control instruction of the unmanned boat of ship bank base control module, and by the control instruction control unmanned boat movement of the unmanned boat.
A kind of unmanned boat formation control method using above system, which is characterized in that it includes the following steps：
Step 1：Each unmanned boat bank base control module according to the map information planning go out unmanned boat formation navigation path and
Flight pattern obtains planning navigation coordinate and the course angle in each unmanned boat each aeronautical data sampling period；
Step 2：By the currently practical navigation coordinate X of unmanned boati, YiWith course angle θiWithin the next aeronautical data sampling period
The navigation coordinate X of planningii,YiiWith course angle θiiThe unmanned boat phase is calculated using the method for 2.1~step 2.4 of following steps
Course and the speed of a ship or plane are hoped, unmanned boat to be caused to form into columns by planning formation navigation；
Step 2.1：The location information data packet of current corresponding unmanned boat is sent to unmanned boat bank by each UWB navigation modules
Base control module；
Step 2.2：Each unmanned boat bank base control module decompresses the location information data packet of obtained unmanned boat, obtains
Each currently practical navigation coordinate X of unmanned boati, YiWith course angle θi, the currently practical navigation of each unmanned boat that solution is pressed out sits
Mark Xi, YiWith course angle θiWith the navigation coordinate X planned in the next aeronautical data sampling periodii,YiiWith course angle θiiIt is counted
It calculates, obtains corresponding unmanned boat in the next aeronautical data sampling period and it is expected speed of a ship or plane ViWith rudder angle βi, calculation formula is as follows：
βi=θii-θi
Wherein, TiFor the aeronautical data sampling period；
The following relationship of the speed of a ship or plane it is expected by motor unmanned boat motor speed and unmanned boat：
ωi=k*Vi
Wherein, k is conversion parameter, is preset value；
Obtain the corresponding unmanned boat motor speed ω in the next aeronautical data sampling periodiWith rudder angle βi；
Step 2.3:Unmanned boat bank base control module according in the next aeronautical data sampling period each unmanned boat nobody
Ship motor speed ωiWith rudder angle βiThe control command of each unmanned boat is generated, and the control command of each unmanned boat is sent respectively
Correspondence unmanned boat control module in forming into columns to unmanned boat；
Step 2.4：Each unmanned boat control module is according to obtained control command, control unmanned boat movement.
Beneficial effects of the present invention：
The present invention is based on more unmanned boat formation control system schemas of wireless sensor network, UWB modules realize unmanned boat
Positioning and formation assessment, realize the control formed into columns to more unmanned boats, this programme is accurate to unmanned boat formation control position.
Path planning can quickly be carried out using the improved adaptive GA-IAGA based on elastic mesh.The present invention is at low cost, and stability is good, is suitable for
The research field that more unmanned boats are formed into columns has good development potentiality.
The unmanned boat formation control method of the present invention also has the advantages that：
(1) current context information is fully obtained.The ability that single unmanned boat sensor obtains information is limited, if more
Unmanned boat keeps certain formation, and each unmanned boat is responsible for obtaining the environmental information around itself, it is possible to ensure than more complete
Ground obtains the environmental information in unmanned boat formation current work region, to realizing that exploration, safety patrol and investigation tasks are advantageous；
(2) formation that more unmanned boats keep certain can enhance the defence capability for resisting outside invading；
(3) working efficiency can be improved, in specific task, keeps specific formation that can get twice the result with half the effort；
(4) robustness of system can be improved.
Description of the drawings
Fig. 1 is the functional block diagram in the present invention.
Wherein, 1-UWB navigation modules, 2-unmanned boat control module, 3-unmanned boat communication module, 4-bank base communication mould
Block, 5-unmanned boat bank base control module.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
More unmanned boat formation control systems based on wireless sensor network of the present invention, as described in Figure 1, it leads including UWB
Model plane block 1, unmanned boat control module 2, unmanned boat communication module 3, bank base communication module 4 and unmanned boat bank base control module 5,
In, unmanned boat is equipped with UWB navigation modules 1, unmanned boat control module 2 and unmanned boat communication module in forming into columns in each unmanned boat
3, the navigation data output terminal of each UWB navigation modules 1 connects the navigation data input terminal of corresponding unmanned boat control module 2,
Each 2 bank base communication interface of unmanned boat control module passes sequentially through corresponding unmanned boat communication module 3 and bank base communication module 4 connects
Connect the bank base communication interface of unmanned boat bank base control module 5；
The UWB navigation modules 1 endure navigation data (UWB navigation modules 1 for providing nobody to unmanned boat control module 2
Navigation accuracy it is higher, and course angle can be measured)；
For nobody to be endured, navigation data passes through unmanned boat communication module 3 to the unmanned boat control module 2 and bank base communicates
Module 4 is transmitted to unmanned boat bank base control module 5；
The unmanned boat bank base control module 5 be used for according to receive nobody endure navigation data, and set according to default
Formation and path make to carry out guidance path matching treatment, then export the control instruction of corresponding unmanned boat；
The unmanned boat control module 2 is additionally operable to receive from nothing by unmanned boat communication module 3 and bank base communication module 4
The control instruction of the unmanned boat of people's ship bank base control module 5, and by the control instruction control unmanned boat movement of the unmanned boat.
Unmanned boat control module 2 includes ARM modules and DSP drive modules, for controlling affiliated unmanned boat direction of advance.Ship
Oceangoing ship mechanism includes propeller, the steering engine for driving ship, and the propeller and steering engine receive unmanned boat control module and send out instruction,
Unmanned boat is driven to advance.The unmanned boat control module 2 is using ARM cortex-A9i.MX6Q processors as main control chip.Institute
The DSP drive modules for stating unmanned boat are used as control chip using TMS320F28335DSP processors.
In above-mentioned technical proposal, it is described nobody endure navigation data include the position coordinates of unmanned boat and course angle information.
In above-mentioned technical proposal, led between the unmanned boat communication module 3 and bank base communication module 4 using 2.4G radio frequencies
Letter.
A kind of unmanned boat formation control method using above system, it includes the following steps：
Step 1：Each unmanned boat bank base control module 5 according to the map information planning go out unmanned boat formation navigation path and
Flight pattern, obtain the planning in each unmanned boat each aeronautical data sampling period (0.5 second be a cycle) navigate by water coordinate and
Course angle；
Step 2：By the currently practical navigation coordinate X of unmanned boati, YiWith course angle θiWithin the next aeronautical data sampling period
The navigation coordinate X of planningii,YiiWith course angle θiiThe unmanned boat phase is calculated using the method for 2.1~step 2.4 of following steps
Course and the speed of a ship or plane are hoped, unmanned boat to be caused to form into columns by planning formation navigation；
Step 2.1：The location information data packet of current corresponding unmanned boat is sent to unmanned boat by each UWB navigation modules 1
Bank base control module 5；
Step 2.2：Each unmanned boat bank base control module 5 decompresses the location information data packet of obtained unmanned boat, obtains
To the currently practical navigation coordinate X of each unmanned boati, YiWith course angle θi, the currently practical navigation of each unmanned boat that solution is pressed out
Coordinate Xi, YiWith course angle θiWith the navigation coordinate X planned in the next aeronautical data sampling periodii,YiiWith course angle θiiIt carries out
It calculates, obtains corresponding unmanned boat in the next aeronautical data sampling period and it is expected speed of a ship or plane ViWith rudder angle βi, calculation formula is as follows：
βi=θii-θi
Wherein, the following relationship of the speed of a ship or plane it is expected by motor unmanned boat motor speed and unmanned boat：
ωi=k*Vi
Wherein, TiFor the aeronautical data sampling period；
K is conversion parameter, for preset value (generally determined according to the propulsive efficiency of unmanned boat, k values are about thousand/
One, Speed unit is rpm (rpm), and the speed of a ship or plane is metre per second (m/s) (m/s))；
Obtain the corresponding unmanned boat motor speed ω in the next aeronautical data sampling periodiWith rudder angle βi；
Step 2.3:Unmanned boat bank base control module 5 according in the next aeronautical data sampling period each unmanned boat nobody
Ship motor speed ωiWith rudder angle βiThe control command of each unmanned boat is generated, and the control command of each unmanned boat is sent respectively
Correspondence unmanned boat control module 2 in forming into columns to unmanned boat；
Step 2.4：Each unmanned boat control module 2 is according to obtained control command, control unmanned boat movement.
In the step 2.1 of above-mentioned technical proposal, each UWB navigation modules 1 are by the location information number of current corresponding unmanned boat
It is according to the specific method for being sent to unmanned boat bank base control module 5 is wrapped：
Step 2.1.1：UWB labels in each UWB navigation modules 1 are realized by measuring with the distance of four UWB base stations
Positioning obtains the currently practical navigation coordinate X of unmanned boati, YiWith course angle θi；
Step 2.1.2：Each UWB navigation modules 1 send obtained location information to corresponding unmanned boat control module
2, obtained data are packaged by unmanned boat control module 2；Wherein location information data packet is with 30 byte ASCII character string lists
Show, specific form is as follows：
Step 2.1.3：Unmanned boat communication module 3 sends the location information data packet obtained from unmanned boat control module 2
To bank base communication module 4；
Step 2.1.4：Bank base communication module 4 transmits the location information data packet of acquisition by bank base system serial port module
To corresponding unmanned boat bank base control module 5.
The control command of each unmanned boat is sent respectively in unmanned boat formation in the step 2.3 of above-mentioned technical proposal
The specific method of corresponding unmanned boat control module 2 is：
Step 2.3.1：The corresponding unmanned boat motor speed in the next aeronautical data sampling period that step 2.2 is obtained
ωiWith rudder angle βiWriting commands data packet is sent to each unmanned boat control module 2 by bank base communication module 4；Wherein command number
Represent that specific form is as follows according to packet with 30 byte ASCII character strings：
Step 2.3.2：Unmanned boat communication module sends command packet to corresponding nothing by unmanned boat communication serial port
People's ship control module 2.
In the step 2.4 of above-mentioned technical proposal, each unmanned boat control module 2 controls nothing according to obtained control command
People's ship movement specific method be：
Step 2.4.1：In unmanned boat control module 2, order data that ARM modules will be received from unmanned boat communication serial port
Packet is sent to DSP drive modules；
Step 2.4.2：The command packet received is unpacked and analyzes it calculating by DSP drive modules again,
Obtain the motor speed and rudder angle needed for unmanned boat movement, and by rotating speed and rudder angle instruct transmissions respectively it is corresponding nobody endure control and hold
Row module；
Step 2.4.3：Accordingly nobody very controls execution module driving motor and steering engine, by changing motor speed and steering engine
Rudder angle is so that unmanned boat is formed into columns according to the formation of planning and path navigation.
In the step 1, information planning goes out the boat that unmanned boat is formed into columns to each unmanned boat bank base control module (5) according to the map
The method of the path planning of walking along the street diameter and flight pattern uses the improved adaptive GA-IAGA based on elastic mesh, and (algorithm is calculated to be conventional
Method, see reference document：Tang Lin, Cai Derong, yellow violent naval vessel path planning [J] computer engineering of the based on improved adaptive GA-IAGA with
Design, 2009,30 (6):1452-1457.；Fan Yunsheng, Zhao Yongsheng, stone forest dragon, nobody based on electronic chart rasterizing of moon
Water surface ship global path planning [J] Chinese navigations, 2017,40 (1):47-52.；Wang Lei, Li Ming, Cai Jingcao, Liu Zhi tiger are improved
Application study [J] machine science and technology of the genetic algorithm in mobile robot path planning, 2017,36 (5):711-
716.) current optimal path, is solved under the grid map of low-density, then locally increases mesh-density for turning point, into
One step optimum path search so repeats, and to reduce algorithm search space, improves path planning efficiency.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (8)
1. a kind of more unmanned boat formation control systems based on wireless sensor network, it is characterised in that：It includes UWB navigation modules
(1), unmanned boat control module (2), unmanned boat communication module (3), bank base communication module (4) and unmanned boat bank base control module
(5), wherein, unmanned boat be equipped in each unmanned boat in forming into columns UWB navigation modules (1), unmanned boat control module (2) and nobody
Ship communication module (3), the navigation data output terminal of each UWB navigation modules (1) connect corresponding unmanned boat control module (2)
Navigation data input terminal, each unmanned boat control module (2) bank base communication interface pass sequentially through corresponding unmanned boat communication module
(3) and bank base communication module (4) connection unmanned boat bank base control module (5) bank base communication interface；
The UWB navigation modules (1) endure navigation data for providing nobody to unmanned boat control module (2)；
The unmanned boat control module (2) is communicated for nobody to be endured navigation data by unmanned boat communication module (3) and bank base
Module (4) is transmitted to unmanned boat bank base control module (5)；
The unmanned boat bank base control module (5) for according to receive nobody endure navigation data, and set according to default
Formation and path are made to carry out guidance path matching treatment, then export the control instruction of corresponding unmanned boat；
The unmanned boat control module (2) is additionally operable to come from by unmanned boat communication module (3) and bank base communication module (4) reception
The control instruction of the unmanned boat of unmanned boat bank base control module (5), and by the control instruction control unmanned boat movement of the unmanned boat.
2. more unmanned boat formation control systems of wireless sensor network according to claim 1, it is characterised in that：The nothing
People endures navigation data and includes the position coordinates of unmanned boat and course angle information.
3. more unmanned boat formation control systems of wireless sensor network according to claim 1, it is characterised in that：The nothing
2.4G radio communications are used between people's ship communication module (3) and bank base communication module (4).
4. a kind of unmanned boat formation control method using system described in claim 1, which is characterized in that it includes following step
Suddenly：
Step 1：Information planning goes out navigation path and volume that unmanned boat is formed into columns to each unmanned boat bank base control module (5) according to the map
Team's formation obtains planning navigation coordinate and the course angle in each unmanned boat each aeronautical data sampling period；
Step 2：By the currently practical navigation coordinate X of unmanned boati, YiWith course angle θiWith being planned in the next aeronautical data sampling period
Navigation coordinate Xii,YiiWith course angle θiiUnmanned boat is calculated using the method for 2.1~step 2.4 of following steps and it is expected boat
To and the speed of a ship or plane, come cause unmanned boat form into columns by planning formation navigation；
Step 2.1：The location information data packet of current corresponding unmanned boat is sent to unmanned boat bank by each UWB navigation modules (1)
Base control module (5)；
Step 2.2：Each unmanned boat bank base control module (5) decompresses the location information data packet of obtained unmanned boat, obtains
Each currently practical navigation coordinate X of unmanned boati, YiWith course angle θi, the currently practical navigation of each unmanned boat that solution is pressed out sits
Mark Xi, YiWith course angle θiWith the navigation coordinate X planned in the next aeronautical data sampling periodii,YiiWith course angle θiiIt is counted
It calculates, obtains corresponding unmanned boat in the next aeronautical data sampling period and it is expected speed of a ship or plane ViWith rudder angle βi, calculation formula is as follows：
βi=θii-θi
Wherein, TiFor the aeronautical data sampling period；
The following relationship of the speed of a ship or plane it is expected by motor unmanned boat motor speed and unmanned boat：
ωi=k*Vi
Wherein, k is conversion parameter, is preset value；
Obtain the corresponding unmanned boat motor speed ω in the next aeronautical data sampling periodiWith rudder angle βi；
Step 2.3:Unmanned boat bank base control module (5) is according to the unmanned boat of each unmanned boat in the next aeronautical data sampling period
Motor speed ωiWith rudder angle βiThe control command of each unmanned boat is generated, and the control command of each unmanned boat is sent respectively to
Correspondence unmanned boat control module (2) in unmanned boat formation；
Step 2.4：Each unmanned boat control module (2) is according to obtained control command, control unmanned boat movement.
5. unmanned boat formation control method according to claim 4, it is characterised in that：In the step 2.1, each UWB
The location information data packet of current corresponding unmanned boat is sent to the specific of unmanned boat bank base control module (5) by navigation module (1)
Method is：
Step 2.1.1：UWB labels in each UWB navigation modules (1) are fixed with the distance realization of four UWB base stations by measuring
Position obtains the currently practical navigation coordinate X of unmanned boati, YiWith course angle θi；
Step 2.1.2：Each UWB navigation modules (1) send obtained location information to corresponding unmanned boat control module
(2), obtained data are packaged by unmanned boat control module (2)；
Step 2.1.3：Unmanned boat communication module (3) will be sent from the location information data packet that unmanned boat control module (2) obtain
To bank base communication module (4)；
Step 2.1.4：The location information data packet of acquisition is sent to by bank base communication module (4) by bank base system serial port module
Corresponding unmanned boat bank base control module (5).
6. unmanned boat formation control method according to claim 4, it is characterised in that：By each nothing in the step 2.3
The specific method of correspondence unmanned boat control module (2) that the control command of people's ship is sent respectively to during unmanned boat is formed into columns is：
Step 2.3.1：Corresponding unmanned boat motor speed ω in the next aeronautical data sampling period that step 2.2 is obtainediWith
Rudder angle βiWriting commands data packet is sent to each unmanned boat control module (2) by bank base communication module (4)；
Step 2.3.2：Unmanned boat communication module sends command packet to corresponding unmanned boat by unmanned boat communication serial port
Control module (2).
7. unmanned boat formation control method according to claim 4, it is characterised in that：In the step 2.4, it is each nobody
According to obtained control command, the specific method that control unmanned boat moves is ship control module (2)：
Step 2.4.1：In unmanned boat control module (2), command packet that ARM modules will be received from unmanned boat communication serial port
It is sent to DSP drive modules；
Step 2.4.2：The command packet received is unpacked and analyzes it calculating by DSP drive modules again, is obtained
Motor speed and rudder angle needed for unmanned boat movement, and by rotating speed and rudder angle instruct transmissions respectively it is corresponding nobody endure control execution mould
Block；
Step 2.4.3：Accordingly nobody very controls execution module driving motor and steering engine, by changing motor speed and steering engine rudder angle
It is navigated by water so that unmanned boat is formed into columns according to the formation of planning and path.
8. unmanned boat formation control method according to claim 4, it is characterised in that：In the step 1, each unmanned boat
Bank base control module (5) according to the map information planning go out unmanned boat formation navigation path and flight pattern path planning side
Method uses the improved adaptive GA-IAGA based on elastic mesh, current optimal path is solved under grid map, then for turning point
Part increases mesh-density, and further optimum path search so repeats.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345108.4A CN108170136A (en) | 2017-12-15 | 2017-12-15 | More unmanned boat formation control system and methods based on wireless sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711345108.4A CN108170136A (en) | 2017-12-15 | 2017-12-15 | More unmanned boat formation control system and methods based on wireless sensor network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108170136A true CN108170136A (en) | 2018-06-15 |
Family
ID=62525496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711345108.4A Pending CN108170136A (en) | 2017-12-15 | 2017-12-15 | More unmanned boat formation control system and methods based on wireless sensor network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108170136A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333723A (en) * | 2019-07-17 | 2019-10-15 | 广东华中科技大学工业技术研究院 | A kind of unmanned boat collaboration formation method based on dual communication devices |
| CN111309010A (en) * | 2020-02-21 | 2020-06-19 | 上海大学 | Unmanned ship seabed terrain surveying and mapping control system based on bionic robot and control method thereof |
| CN111523771A (en) * | 2020-03-31 | 2020-08-11 | 中国人民解放军92942部队 | Unmanned ship evaluation system |
| CN112130549A (en) * | 2019-06-24 | 2020-12-25 | 上海大学 | Unmanned ship formation control system with variable working modes and control method |
| CN112612212A (en) * | 2020-12-30 | 2021-04-06 | 上海大学 | Heterogeneous multi-unmanned system formation and cooperative target driving-away method |
| CN115129040A (en) * | 2022-03-11 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Unmanned ship formation control system and control method thereof |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN103092204A (en) * | 2013-01-18 | 2013-05-08 | 浙江大学 | Mixed robot dynamic path planning method |
| CN104714418A (en) * | 2015-04-01 | 2015-06-17 | 大连海事大学 | Semi-physical simulation system for testing control performance of unmanned surface vessel |
| CN105584599A (en) * | 2016-01-25 | 2016-05-18 | 大连海事大学 | Marine environmental monitoring system based on unmanned ship formation motion |
| CN105676871A (en) * | 2016-01-19 | 2016-06-15 | 武汉理工大学 | Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship |
| CN105676844A (en) * | 2016-01-19 | 2016-06-15 | 武汉理工大学 | Under-actuated unmanned ship formation structure based on model ships |
| CN106774331A (en) * | 2016-12-30 | 2017-05-31 | 广东华中科技大学工业技术研究院 | A kind of distributed AC servo system unmanned boat cluster sub-clustering formation method |
| CN106908759A (en) * | 2017-01-23 | 2017-06-30 | 南京航空航天大学 | A kind of indoor pedestrian navigation method based on UWB technology |
| CN106950955A (en) * | 2017-03-17 | 2017-07-14 | 武汉理工大学 | Based on the ship's track-keepping control method for improving LOS bootstrap algorithms |
| CN106961725A (en) * | 2017-03-31 | 2017-07-18 | 深圳大学 | Indoor equipotential method and system based on UWB Yu Wifi combined high precisions |
| CN107040583A (en) * | 2017-02-20 | 2017-08-11 | 中国船舶重工集团公司第七0七研究所 | A kind of unmanned boat information interaction system |
| CN107037816A (en) * | 2017-06-15 | 2017-08-11 | 华中科技大学 | A kind of many unmanned boat fleet systems |
| CN107071899A (en) * | 2017-04-27 | 2017-08-18 | 贵州大学 | Real-time positioning system in a kind of quick high accuracy room |
| CN107064757A (en) * | 2017-04-17 | 2017-08-18 | 国网江苏省电力公司电力科学研究院 | Partial discharge of transformer intellectualized detection device and method based on multisensor |
| CN107229278A (en) * | 2017-06-02 | 2017-10-03 | 华中科技大学 | A kind of unmanned boat monitoring system based on cloud network |
| CN107241217A (en) * | 2017-05-23 | 2017-10-10 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat group multilayer centralized control system |
| CN107247465A (en) * | 2017-05-11 | 2017-10-13 | 西安电子科技大学 | A kind of self-driving travel control system and method based on unmanned plane |
| CN206743405U (en) * | 2016-11-03 | 2017-12-12 | 北京爱特顿精控科技有限责任公司 | A kind of automatic following system |
-
2017
- 2017-12-15 CN CN201711345108.4A patent/CN108170136A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN103092204A (en) * | 2013-01-18 | 2013-05-08 | 浙江大学 | Mixed robot dynamic path planning method |
| CN104714418A (en) * | 2015-04-01 | 2015-06-17 | 大连海事大学 | Semi-physical simulation system for testing control performance of unmanned surface vessel |
| CN105676871A (en) * | 2016-01-19 | 2016-06-15 | 武汉理工大学 | Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship |
| CN105676844A (en) * | 2016-01-19 | 2016-06-15 | 武汉理工大学 | Under-actuated unmanned ship formation structure based on model ships |
| CN105584599A (en) * | 2016-01-25 | 2016-05-18 | 大连海事大学 | Marine environmental monitoring system based on unmanned ship formation motion |
| CN206743405U (en) * | 2016-11-03 | 2017-12-12 | 北京爱特顿精控科技有限责任公司 | A kind of automatic following system |
| CN106774331A (en) * | 2016-12-30 | 2017-05-31 | 广东华中科技大学工业技术研究院 | A kind of distributed AC servo system unmanned boat cluster sub-clustering formation method |
| CN106908759A (en) * | 2017-01-23 | 2017-06-30 | 南京航空航天大学 | A kind of indoor pedestrian navigation method based on UWB technology |
| CN107040583A (en) * | 2017-02-20 | 2017-08-11 | 中国船舶重工集团公司第七0七研究所 | A kind of unmanned boat information interaction system |
| CN106950955A (en) * | 2017-03-17 | 2017-07-14 | 武汉理工大学 | Based on the ship's track-keepping control method for improving LOS bootstrap algorithms |
| CN106961725A (en) * | 2017-03-31 | 2017-07-18 | 深圳大学 | Indoor equipotential method and system based on UWB Yu Wifi combined high precisions |
| CN107064757A (en) * | 2017-04-17 | 2017-08-18 | 国网江苏省电力公司电力科学研究院 | Partial discharge of transformer intellectualized detection device and method based on multisensor |
| CN107071899A (en) * | 2017-04-27 | 2017-08-18 | 贵州大学 | Real-time positioning system in a kind of quick high accuracy room |
| CN107247465A (en) * | 2017-05-11 | 2017-10-13 | 西安电子科技大学 | A kind of self-driving travel control system and method based on unmanned plane |
| CN107241217A (en) * | 2017-05-23 | 2017-10-10 | 四方继保（武汉）软件有限公司 | A kind of unmanned boat group multilayer centralized control system |
| CN107229278A (en) * | 2017-06-02 | 2017-10-03 | 华中科技大学 | A kind of unmanned boat monitoring system based on cloud network |
| CN107037816A (en) * | 2017-06-15 | 2017-08-11 | 华中科技大学 | A kind of many unmanned boat fleet systems |
Non-Patent Citations (2)
| Title |
|---|
| 周志杰等: "水面无人艇自主跟踪系统设计", 《江苏船舶》 * |
| 王薇等: "基于二次栅格划分的移动sink最小路径构建算法", 《西北工业大学学报》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112130549A (en) * | 2019-06-24 | 2020-12-25 | 上海大学 | Unmanned ship formation control system with variable working modes and control method |
| CN110333723A (en) * | 2019-07-17 | 2019-10-15 | 广东华中科技大学工业技术研究院 | A kind of unmanned boat collaboration formation method based on dual communication devices |
| CN110333723B (en) * | 2019-07-17 | 2022-03-22 | 广东华中科技大学工业技术研究院 | Unmanned ship collaborative formation method based on dual communication equipment |
| CN111309010A (en) * | 2020-02-21 | 2020-06-19 | 上海大学 | Unmanned ship seabed terrain surveying and mapping control system based on bionic robot and control method thereof |
| CN111309010B (en) * | 2020-02-21 | 2021-05-04 | 上海大学 | Control method implemented by unmanned ship seabed terrain surveying and mapping control system based on bionic robot |
| CN111523771A (en) * | 2020-03-31 | 2020-08-11 | 中国人民解放军92942部队 | Unmanned ship evaluation system |
| CN111523771B (en) * | 2020-03-31 | 2024-03-15 | 中国人民解放军92942部队 | Unmanned ship assessment system |
| CN112612212A (en) * | 2020-12-30 | 2021-04-06 | 上海大学 | Heterogeneous multi-unmanned system formation and cooperative target driving-away method |
| CN112612212B (en) * | 2020-12-30 | 2021-11-23 | 上海大学 | Heterogeneous multi-unmanned system formation and cooperative target driving-away method |
| CN115129040A (en) * | 2022-03-11 | 2022-09-30 | 中国船舶重工集团公司第七0七研究所 | Unmanned ship formation control system and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108170136A (en) | More unmanned boat formation control system and methods based on wireless sensor network | |
| CN104808675B (en) | Body-sensing flight control system and terminal device based on intelligent terminal | |
| CN108416152B (en) | Unmanned ship ant colony energy consumption optimal global path planning method based on electronic chart | |
| CN108563242B (en) | A kind of air-sea, which independently cooperates with, searches and rescues M3U platform | |
| CN101872195B (en) | Path deviation generation analysis method for ship at sea | |
| CN103176451B (en) | Ship sailing aiding and formation commanding method | |
| Cao et al. | Toward optimal rendezvous of multiple underwater gliders: 3D path planning with combined sawtooth and spiral motion | |
| CN108594807B (en) | A kind of unmanned water surface ship dog leg path tracking control system and method | |
| CN205581642U (en) | Unmanned ship self -adaptation steering engine control system based on STM32 | |
| CN108860454B (en) | All-weather long-voyage unmanned sailing ship design method | |
| CN106444767B (en) | A kind of linkage combination independent navigation unmanned boat control system based on APM and I7 intelligent chip | |
| CN106403957A (en) | Amphibious air cushion shipway point guidance control method | |
| CN102692924A (en) | Experimental control structure of unmanned surface vessel | |
| CN110347168A (en) | A kind of method of real-time tracing underwater robot, system and unmanned relaying equipment | |
| CN108549396A (en) | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 | |
| CN109470248A (en) | A kind of autonomous Underwater Vehicle Navigation System and air navigation aid | |
| CN108037771A (en) | A kind of more autonomous underwater robot search control systems and its method | |
| CN114779791B (en) | Wave glider position keeping method and system | |
| CN103803043A (en) | Automatic large-water-area navigation floating work platform driven by fans | |
| CN110333723B (en) | Unmanned ship collaborative formation method based on dual communication equipment | |
| CN109814547B (en) | Unmanned ship course keeping device and method under action of wind wave interference | |
| CN111438691A (en) | Bionic six-foot robotic crab control system | |
| CN113342016B (en) | Autonomous underwater robot cooperative control method and system based on dynamic event triggering | |
| CN213705091U (en) | Amphibious robot | |
| CN103092071B (en) | Nonself propelled ship oceangoing ship intelligence shift system based on adaptive algorithm and displacement method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180615 |
|
| RJ01 | Rejection of invention patent application after publication |