CN108549369A - The system and method that the collaboration of more unmanned boats is formed into columns under a kind of complexity sea situation - Google Patents
The system and method that the collaboration of more unmanned boats is formed into columns under a kind of complexity sea situation Download PDFInfo
- Publication number
- CN108549369A CN108549369A CN201810199030.8A CN201810199030A CN108549369A CN 108549369 A CN108549369 A CN 108549369A CN 201810199030 A CN201810199030 A CN 201810199030A CN 108549369 A CN108549369 A CN 108549369A
- Authority
- CN
- China
- Prior art keywords
- unmanned boat
- ship
- information
- module
- unmanned
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 38
- 230000007613 environmental effect Effects 0.000 claims abstract description 20
- 230000008447 perception Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000003068 static 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)
- Traffic Control Systems (AREA)
Abstract
The invention discloses the system and method that more unmanned boat collaborations under a kind of complicated sea situation are formed into columns, system includes collaborative center, wireless transport module, single ship sea situation monitoring modular, single ship environmental perception module, list ship GPS/IMU modules, single ship navigation obstacle avoidance module, single ship control module.Collaborative center to send to each unmanned boat according to the sea status at collaboration formation mission requirements and each unmanned boat position to be instructed；Information exchange is completed by wireless transport module between unmanned boat and control centre；GPS/IMU modules and environmental perception module provide the position and attitude information and obstacle information of ship in real time respectively；Navigation avoidance mould and control module control unmanned boat safely and effectively complete collaboration formation task；Sea situation monitoring modular calculates actual classification of seas by the information that marine radar monitors.The present invention is reliably reasonable, and the collaboration of more unmanned boats can be allowed, which to form into columns, can more reach actual formation mission requirements in the case where meeting safety.
Description
Technical field
The present invention relates to the system and methods that more unmanned boat collaborations under a kind of complicated sea situation are formed into columns, and belong to unmanned boat collaboration and answer
With technology and unmanned boat collaboration Formation Technology field.
Background technology
Unmanned water surface ship is a small-size water surface task platform for possessing autonomous operation ability, by carry GPS, inertial navigation,
The sensing equipments such as radar, to realize the basic functions such as independent navigation, automatic obstacle avoiding and autonomous tracking.In addition it can by taking
It carries different sensing equipments and task object is completed using different module devices.At present since it is in the outstanding of military field
Performance and foreground, countries in the world all show very strong interest to the research and development of military unmanned water surface ship.Simultaneously as unmanned water
Face ship has the characteristics that coverage area is big, at low cost in scientific research and civil applications, so unmanned boat also has in these fields
It is widely applied foreground.
The cotasking of unmanned boat be by more unmanned boats come complete jointly task it is a kind of in the way of.It can effectively dash forward
It is limited to the sensing range of environment to break single ship, executes the limited deficiency of form of task.It tends to reach in actual application
To 1+1>2 effect.Field is cooperateed in more ships, more ship formation are a basic cotasking types, and more ships is generally required to exist
When advancing to predeterminated target, the formation that is kept fixed.And then reach specify target location when, to target carry out quickly surround or
Rapid strike.
Across the sea, the movement of unmanned boat is affected by wave, if wave when not considering real navigation influences,
It is difficult to cook up both safe and effective unmanned boat navigation path.If carrying out formation task under the lower hypothesis of classification of seas
Planning, and when actual motion is in the higher environment of classification of seas, the unmanned boat that neighbouring participation is formed into columns will likely be sent out
Raw collision.If using the higher formation mission planning of safety being suitable under higher classification of seas, and actual motion exists
When calm, it will make the formation effect that the unmanned boat formed into columns excessively disperses and has been not achieved due to overly conservative.
Invention content
The purpose of the present invention is to provide the system and methods that more unmanned boat collaborations under a kind of complicated sea situation are formed into columns.
The technical solution adopted by the present invention to solve the technical problems is：
The system that the collaboration of more unmanned boats is formed into columns under a kind of complexity sea situation, including collaborative center, wireless transport module, single ship sea
Condition monitoring modular, single ship environmental perception module, list ship GPS/IMU modules, single ship navigation obstacle avoidance module, single ship control module；Institute
The collaborative center stated according to the characteristic of patrol mission, the size of beat, participate in patrol unmanned boat number and
The motion conditions of each unmanned boat send moving target instruction to the unmanned boat for participating in patrol mission；The list ship GPS/IMU moulds
Block is mounted on the unmanned boat for participating in patrol, can provide position and the posture information of ship in real time；The list ship environment sensing mould
Block is mounted on the unmanned boat for participating in patrol, can provide island, the static-obstacle thing information in continent and other ships, warship in real time
The dynamic barrier information of ship；The list ship navigation obstacle avoidance module is mounted on the unmanned boat for participating in patrol, according to single ship environment
It is subsequent that the moving target point that the obstacle information and collaborative center that sensing module is obtained are sent out calculates unmanned boat
Movement velocity size and direction；The list ship control module is mounted on the unmanned boat for participating in patrol, can be navigated according to single ship
Moving target instruction given by obstacle avoidance module, control unmanned boat complete patrol mission；The list ship sea situation monitoring modular uses
Marine radar is mounted on unmanned boat deck eminence by holder, the oceanic condition of classification of seas is calculated by marine radar,
And then the unmanned boat in forming into columns is calculated to the distance between collaboration unmanned boat adjacent thereto；The wireless transport module is by nothing
The position and attitude of people's ship, sea situation information and environmental information are sent to collaborative center and are handled.
A kind of method that the collaboration of more unmanned boats is formed into columns under complexity sea situation, uses more unmanned boats collaborations under above-mentioned complicated sea situation
The system of formation, is as follows：
S01 forms into columns and prepares：According to actual formation mission requirements, a certain number of unmanned boats is sent to execute collaboration formation task,
And the initial position of an assembly is distributed for these unmanned boats, after assembly to be done, specified terminal is gone in the form of formation
Position；
S02 transmits single ship information to collaborative center：Each unmanned boat is by the position detected by single ship GPS/IMU modules
Sea detected by the environmental information perceived with posture information, single ship environmental perception module and single ship sea situation monitoring modular
Condition information uploads to collaborative center by wireless transport module；
S03, collaborative center carry out formation mission planning：Collaborative center is according to the environment obtained from each unmanned boat
Cartographic information and classification of seas information, and then calculate each unmanned boat and safely, effectively complete what formation task should reach
Next target location；
S04 issues the formation assignment instructions of each unmanned boat in next time cycle to corresponding unmanned boat：By each unmanned boat
The next position institute target location to be achieved, passes sequentially through wireless transport module and is sent to corresponding unmanned boat；
S05, all unmanned boats reach the formation target point obtained from collaborative center, complete the formation task of oneself, later
S02 is jumped to continue to execute.
Compared with prior art, outstanding feature of the invention is：
The present invention cooperates with fleet system reliably reasonable, and the collaboration of more unmanned boats can be allowed to form into columns in the case where meeting safety more
Actual formation mission requirements can be reached.The method of the present invention, which solves during general collaboration is formed into columns, does not consider that environment caused by wave is disturbed
It is dynamic to influence, thus the problem of the formation situation for meeting actual environment condition cannot be generated, effectively increases more unmanned boats collaborations and compile
The reasonability of team.
Description of the drawings
Fig. 1 be the present invention complicated sea situation under the system schematic formed into columns of more unmanned boats collaboration.
Fig. 2 be the present invention complicated sea situation under the method schematic diagram formed into columns of more unmanned boats collaboration.
Fig. 3 is the change schematic diagram that flight pattern is cooperateed with when left side unmanned boat detects bigger wave.
Specific implementation mode
Specific embodiments of the present invention are further detailed below in conjunction with attached drawing.
As shown in Figure 1, the system that the collaboration of more unmanned boats is formed into columns under a kind of complexity sea situation, including it is collaborative center 1, wireless
Transmission module 2, single ship sea situation monitoring modular 3, single ship environmental perception module 4, list ship GPS/IMU modules 5, single ship navigation avoidance mould
Block 6, single ship control module 7；The collaborative center 1 is patrolled according to the characteristic of patrol mission, the size of beat, participation
The number for the unmanned boat patrolled and the motion conditions of each unmanned boat send moving target to the unmanned boat for participating in patrol mission and refer to
It enables；The list ship GPS/IMU modules 5 are mounted on the unmanned boat for participating in patrol, can provide position and the posture letter of ship in real time
Breath；The list ship environmental perception module 4 is mounted on the unmanned boat for participating in patrol, can provide the static state in island, continent in real time
The dynamic barrier information of obstacle information and other ships, naval vessels；The list ship navigation obstacle avoidance module 6, which is mounted on, to participate in going on patrol
Unmanned boat on, movement that the obstacle information and collaborative center 1 that are obtained according to single ship environmental perception module 4 are sent out
Target point calculates the subsequent movement velocity size of unmanned boat and direction；The list ship control module 7, which is mounted on, participates in patrol
On unmanned boat, the moving target instruction that can be navigated according to single ship given by obstacle avoidance module 6, control unmanned boat is completed patrol and is appointed
Business；The list ship sea situation monitoring modular 3 uses marine radar, is mounted on unmanned boat deck eminence by holder, passes through navigation
Radar calculates the oceanic condition of classification of seas, so calculate form into columns in unmanned boat to collaboration unmanned boat adjacent thereto it
Between distance；The position and attitude of unmanned boat, sea situation information and environmental information are sent to Collaborative Control by the wireless transport module 2
Center 1 is handled.
As shown in Fig. 2, a kind of method that more unmanned boat collaborations are formed into columns under complexity sea situation, using more under above-mentioned complicated sea situation
The system that unmanned boat collaboration is formed into columns, is as follows：
S01 forms into columns and prepares：According to actual formation mission requirements, a certain number of unmanned boats is sent to execute collaboration formation task,
And the initial position of an assembly is distributed for these unmanned boats, after assembly to be done, specified terminal is gone in the form of formation
Position.
S02 transmits single ship information to collaborative center 1：Each unmanned boat will be detected by single ship GPS/IMU modules 5
Position and the environmental information that is perceived of posture information, single ship environmental perception module 4 and single ship sea situation monitoring modular 3 examined
The sea situation information measured uploads to collaborative center 1 by wireless transport module 2.
S03, collaborative center 1 carry out formation mission planning：Collaborative center 1 is obtained according to from each unmanned boat
Environmental Map Information and classification of seas information, and then calculate each unmanned boat and safely, effectively complete formation task and answered
The next target location reached.As shown in figure 3, when the left side unmanned boat of formation detects bigger stormy waves, in order to protect
The safety that unmanned boat collaboration is formed into columns is demonstrate,proved, the unmanned boat in left side needs to use the interval of bigger between adjacent unmanned boat, therefore
Collaborative center 1 is supplied to the subsequent time target location interval of left side unmanned boat to increase.
S04 issues the formation assignment instructions of each unmanned boat in next time cycle to corresponding unmanned boat：By each nothing
People's ship the next position institute target location to be achieved, passes sequentially through wireless transport module 2 and is sent to corresponding unmanned boat.
S05, all unmanned boats reach the formation target point obtained from collaborative center 1, complete the formation task of oneself,
S02 is jumped to later to continue to execute.
Claims (2)
1. the system that more unmanned boat collaborations are formed into columns under a kind of complexity sea situation, which is characterized in that including collaborative center（1）, nothing
Line transmission module（2）, single ship sea situation monitoring modular（3）, single ship environmental perception module（4）, single ship GPS/IMU modules（5）, single ship
Navigation obstacle avoidance module（6）, single ship control module（7）；The collaborative center（1）Characteristic, patrol according to patrol mission
The size in region, participate in patrol unmanned boat number and each unmanned boat motion conditions to participate in patrol mission nobody
Ship sends moving target instruction；The list ship GPS/IMU modules（5）On the unmanned boat for participating in patrol, it can give in real time
Go out position and the posture information of ship；The list ship environmental perception module（4）It, can be real-time on the unmanned boat for participating in patrol
Provide island, the static-obstacle thing information in continent and other ships, naval vessels dynamic barrier information；The list ship navigation avoidance
Module（6）On the unmanned boat for participating in patrol, according to single ship environmental perception module（4）The obstacle information obtained and association
Same control centre（1）The moving target point sent out calculates the subsequent movement velocity size of unmanned boat and direction；The list ship
Control module（7）On the unmanned boat for participating in patrol, can navigate obstacle avoidance module according to single ship（6）Given movement mesh
Mark instruction, control unmanned boat complete patrol mission；The list ship sea situation monitoring modular（3）Using marine radar, pass through holder
Mounted on unmanned boat deck eminence, the oceanic condition of classification of seas is calculated by marine radar, and then is calculated in formation
Unmanned boat is to the distance between collaboration unmanned boat adjacent thereto；The wireless transport module（2）By the position and attitude of unmanned boat,
Sea situation information and environmental information are sent to collaborative center（1）It is handled.
2. a kind of method that the collaboration of more unmanned boats is formed into columns under complexity sea situation, using under complicated sea situation described in claim 1 mostly without
The system that the collaboration of people's ship is formed into columns, which is characterized in that be as follows：
S01 forms into columns and prepares：According to actual formation mission requirements, a certain number of unmanned boats is sent to execute collaboration formation task,
And the initial position of an assembly is distributed for these unmanned boats, after assembly to be done, specified terminal is gone in the form of formation
Position；
S02 transmits single ship information to collaborative center（1）：Each unmanned boat is by single ship GPS/IMU modules（5）It is detected
Position and posture information, single ship environmental perception module（4）The environmental information perceived and single ship sea situation monitoring modular（3）
Detected sea situation information, passes through wireless transport module（2）Upload to collaborative center（1）；
S03, collaborative center（1）Carry out formation mission planning：Collaborative center（1）Foundation is obtained from each unmanned boat
Environmental Map Information and classification of seas information, and then calculate each unmanned boat and safely, effectively complete formation task and answered
The next target location reached；
S04 issues the formation assignment instructions of each unmanned boat in next time cycle to corresponding unmanned boat：By each unmanned boat
The next position institute target location to be achieved, passes sequentially through wireless transport module（2）It is sent to corresponding unmanned boat；
S05, all unmanned boats are reached from collaborative center（1）The formation target point of acquisition, completes the formation task of oneself, it
After jump to S02 and continue to execute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810199030.8A CN108549369B (en) | 2018-03-12 | 2018-03-12 | System and method for collaborative formation of multiple unmanned boats under complex sea conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810199030.8A CN108549369B (en) | 2018-03-12 | 2018-03-12 | System and method for collaborative formation of multiple unmanned boats under complex sea conditions |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108549369A true CN108549369A (en) | 2018-09-18 |
| CN108549369B CN108549369B (en) | 2021-06-04 |
Family
ID=63516152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810199030.8A Active CN108549369B (en) | 2018-03-12 | 2018-03-12 | System and method for collaborative formation of multiple unmanned boats under complex sea conditions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108549369B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710373A (en) * | 2018-05-31 | 2018-10-26 | 大连海事大学 | A kind of networking drive lacking unmanned boat distribution formation control device and its design method |
| CN109407680A (en) * | 2018-12-28 | 2019-03-01 | 大连海事大学 | The distributed object collaborative allocation of unmanned boat formation reconfiguration |
| CN109445445A (en) * | 2018-12-28 | 2019-03-08 | 珠海云洲智能科技有限公司 | A kind of more ship cooperative control systems |
| CN109752015A (en) * | 2018-12-29 | 2019-05-14 | 青岛海洋科学与技术国家实验室发展中心 | Route planning method, computer-readable medium and control device |
| CN109765892A (en) * | 2019-01-16 | 2019-05-17 | 大连海事大学 | A kind of collision of unmanned boat cluster is from evading formation control device structure and design method |
| CN110162053A (en) * | 2019-05-28 | 2019-08-23 | 哈尔滨工程大学 | The adaptive behavior fusion method that the more unmanned boats of isomery are formed into columns |
| CN110398248A (en) * | 2019-07-22 | 2019-11-01 | 广东华风海洋信息系统服务有限公司 | A kind of navigation obstacle avoidance algorithm based on grid optimization |
| CN111524393A (en) * | 2020-04-07 | 2020-08-11 | 浙江国际海运职业技术学院 | Multi-unmanned-vessel full-coverage path collaborative planning method |
| CN111694355A (en) * | 2020-06-02 | 2020-09-22 | 武汉理工大学 | Ship formation navigation control method, system and storage medium |
| CN112015182A (en) * | 2020-09-03 | 2020-12-01 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN112130549A (en) * | 2019-06-24 | 2020-12-25 | 上海大学 | Unmanned ship formation control system with variable working modes and control method |
| CN112558642A (en) * | 2020-12-30 | 2021-03-26 | 上海大学 | Sea-air combined capturing method suitable for heterogeneous multi-unmanned system |
| CN112612212A (en) * | 2020-12-30 | 2021-04-06 | 上海大学 | Heterogeneous multi-unmanned system formation and cooperative target driving-away method |
| CN114442612A (en) * | 2021-12-29 | 2022-05-06 | 宜昌测试技术研究所 | Control method for autonomous formation and navigation of unmanned naval vessels |
| CN115002718A (en) * | 2022-05-19 | 2022-09-02 | 中国人民解放军海军航空大学 | Joint operation scheduling method for unmanned ship military application |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101750610A (en) * | 2008-11-28 | 2010-06-23 | 大连海航科技有限公司 | Wave radar observation system |
| CN102819220A (en) * | 2012-07-24 | 2012-12-12 | 华中科技大学 | Adaptive control method of autopilot of ship |
| CN103019179A (en) * | 2012-11-20 | 2013-04-03 | 江苏科技大学 | System and method for reconnoitring surface ship |
| CN103900541A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Marine condition estimator |
| WO2014198738A2 (en) * | 2013-06-12 | 2014-12-18 | Cgg Services Sa | Marine seismic patterns for coordinated turning of towing vessels and methods therefor |
| WO2016153233A1 (en) * | 2015-03-20 | 2016-09-29 | ㈜엠쏘텍 | Lidar device |
| CN106933232A (en) * | 2017-04-27 | 2017-07-07 | 上海大学 | A kind of context aware systems and method based on collaboration unmanned boat group |
| CN107085427A (en) * | 2017-05-11 | 2017-08-22 | 华南理工大学 | A kind of unmanned water surface ship formation control method for following structure based on leader |
| US20170285664A1 (en) * | 2016-03-29 | 2017-10-05 | Chengwen Chris WANG | Unmanned spatial vehicle performance |
-
2018
- 2018-03-12 CN CN201810199030.8A patent/CN108549369B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101750610A (en) * | 2008-11-28 | 2010-06-23 | 大连海航科技有限公司 | Wave radar observation system |
| CN102819220A (en) * | 2012-07-24 | 2012-12-12 | 华中科技大学 | Adaptive control method of autopilot of ship |
| CN103019179A (en) * | 2012-11-20 | 2013-04-03 | 江苏科技大学 | System and method for reconnoitring surface ship |
| WO2014198738A2 (en) * | 2013-06-12 | 2014-12-18 | Cgg Services Sa | Marine seismic patterns for coordinated turning of towing vessels and methods therefor |
| CN103900541A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Marine condition estimator |
| WO2016153233A1 (en) * | 2015-03-20 | 2016-09-29 | ㈜엠쏘텍 | Lidar device |
| US20170285664A1 (en) * | 2016-03-29 | 2017-10-05 | Chengwen Chris WANG | Unmanned spatial vehicle performance |
| CN106933232A (en) * | 2017-04-27 | 2017-07-07 | 上海大学 | A kind of context aware systems and method based on collaboration unmanned boat group |
| CN107085427A (en) * | 2017-05-11 | 2017-08-22 | 华南理工大学 | A kind of unmanned water surface ship formation control method for following structure based on leader |
Non-Patent Citations (3)
| Title |
|---|
| YAN PENG 等: "Development of the USV ‘JingHai-I’ and sea trials in the Southern Yellow Sea", 《OCEAN ENGINEERING》 * |
| 彭艳 等: "无人水面艇研究现状与发展趋势", 《上海大学学报（自然科学版）》 * |
| 蒲华燕 等: "基于椭圆碰撞锥的无人艇动态避障方法", 《仪器仪表学报》 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108710373B (en) * | 2018-05-31 | 2021-01-15 | 大连海事大学 | Networked under-actuated unmanned ship distributed formation controller and design method thereof |
| CN108710373A (en) * | 2018-05-31 | 2018-10-26 | 大连海事大学 | A kind of networking drive lacking unmanned boat distribution formation control device and its design method |
| CN109407680A (en) * | 2018-12-28 | 2019-03-01 | 大连海事大学 | The distributed object collaborative allocation of unmanned boat formation reconfiguration |
| CN109445445A (en) * | 2018-12-28 | 2019-03-08 | 珠海云洲智能科技有限公司 | A kind of more ship cooperative control systems |
| CN109407680B (en) * | 2018-12-28 | 2021-06-08 | 大连海事大学 | Distributed target cooperative allocation method for unmanned ship formation reconstruction |
| CN109752015A (en) * | 2018-12-29 | 2019-05-14 | 青岛海洋科学与技术国家实验室发展中心 | Route planning method, computer-readable medium and control device |
| CN109765892A (en) * | 2019-01-16 | 2019-05-17 | 大连海事大学 | A kind of collision of unmanned boat cluster is from evading formation control device structure and design method |
| CN109765892B (en) * | 2019-01-16 | 2021-08-10 | 大连海事大学 | Collision self-avoidance formation controller structure of unmanned ship cluster and design method |
| CN110162053A (en) * | 2019-05-28 | 2019-08-23 | 哈尔滨工程大学 | The adaptive behavior fusion method that the more unmanned boats of isomery are formed into columns |
| CN112130549A (en) * | 2019-06-24 | 2020-12-25 | 上海大学 | Unmanned ship formation control system with variable working modes and control method |
| CN110398248A (en) * | 2019-07-22 | 2019-11-01 | 广东华风海洋信息系统服务有限公司 | A kind of navigation obstacle avoidance algorithm based on grid optimization |
| CN110398248B (en) * | 2019-07-22 | 2023-02-28 | 广东华风海洋信息系统服务有限公司 | Navigation obstacle avoidance algorithm based on grid optimization |
| CN111524393A (en) * | 2020-04-07 | 2020-08-11 | 浙江国际海运职业技术学院 | Multi-unmanned-vessel full-coverage path collaborative planning method |
| CN111694355A (en) * | 2020-06-02 | 2020-09-22 | 武汉理工大学 | Ship formation navigation control method, system and storage medium |
| CN112015182A (en) * | 2020-09-03 | 2020-12-01 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN112015182B (en) * | 2020-09-03 | 2021-09-21 | 上海大学 | Unmanned plane-based unmanned ship formation patrol control system and control method |
| CN112558642A (en) * | 2020-12-30 | 2021-03-26 | 上海大学 | Sea-air combined capturing method suitable for heterogeneous multi-unmanned system |
| CN112612212A (en) * | 2020-12-30 | 2021-04-06 | 上海大学 | Heterogeneous multi-unmanned system formation and cooperative target driving-away method |
| CN114442612A (en) * | 2021-12-29 | 2022-05-06 | 宜昌测试技术研究所 | Control method for autonomous formation and navigation of unmanned naval vessels |
| CN115002718A (en) * | 2022-05-19 | 2022-09-02 | 中国人民解放军海军航空大学 | Joint operation scheduling method for unmanned ship military application |
| CN115002718B (en) * | 2022-05-19 | 2024-04-23 | 中国人民解放军海军航空大学 | Combined operation scheduling method for unmanned ship military application |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108549369B (en) | 2021-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108549369A (en) | The system and method that the collaboration of more unmanned boats is formed into columns under a kind of complexity sea situation | |
| Zhang et al. | Collision-avoidance navigation systems for Maritime Autonomous Surface Ships: A state of the art survey | |
| Wang et al. | A survey of technologies for unmanned merchant ships | |
| Liu et al. | Unmanned surface vehicles: An overview of developments and challenges | |
| Kuwata et al. | Safe maritime autonomous navigation with COLREGS, using velocity obstacles | |
| EP2506235B1 (en) | Methods and systems for predicting ship motion | |
| Ryuh et al. | A school of robotic fish for mariculture monitoring in the sea coast | |
| CN108545160A (en) | A kind of someone's ship cooperates with rescue system and method with unmanned boat | |
| CN110347168A (en) | A kind of method of real-time tracing underwater robot, system and unmanned relaying equipment | |
| CN111966106B (en) | Intelligent ship formation berthing method based on ship-ship cooperation | |
| Rowley | Autonomous unmanned surface vehicles (usv): A paradigm shift for harbor security and underwater bathymetric imaging | |
| CN104777480A (en) | Active anti-collision radar warning system for marine fishery vessel | |
| CN108445884A (en) | A kind of patrol system and method based on the collaboration of more unmanned boats | |
| Zhuang et al. | Navigating high‐speed unmanned surface vehicles: System approach and validations | |
| van Cappelle et al. | Survey on short-term technology developments and readiness levels for autonomous shipping | |
| Wang et al. | Review and application of unmanned surface vehicle in China | |
| Ennong et al. | Design and experiment of a sea-air heterogeneous unmanned collaborative system for rapid inspection tasks at sea | |
| Kulbiej et al. | Naval artificial intelligence | |
| Wang et al. | Survey on collision-avoidance navigation of maritime autonomous surface ships | |
| Han et al. | Field demonstration of advanced autonomous navigation technique for a fully unmanned surface vehicle in complex coastal traffic areas | |
| Yang et al. | The technological development and prospect of unmanned surface vessel | |
| Incze et al. | Communication and collaboration of heterogeneous unmanned systems using the joint architecture for Unmanned Systems (JAUS) standards | |
| Conte et al. | Experimental testing of a cooperative ASV-ROV multi-agent system | |
| Joordens et al. | Underwater swarm robotics consensus control | |
| Ferreira et al. | Rapid environmental picture atlantic exercise 2016: Field report |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |