CN110333723A - A kind of unmanned boat collaboration formation method based on dual communication devices - Google Patents
A kind of unmanned boat collaboration formation method based on dual communication devices Download PDFInfo
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- CN110333723A CN110333723A CN201910646220.4A CN201910646220A CN110333723A CN 110333723 A CN110333723 A CN 110333723A CN 201910646220 A CN201910646220 A CN 201910646220A CN 110333723 A CN110333723 A CN 110333723A
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- ship
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- coordinate system
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- unmanned boat
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
A kind of unmanned boat collaboration formation method based on dual communication devices, comprising the following steps: the water-surface areas where unmanned boat is treated as two-dimensional surface, establishes fixed coordinate system XOY and leader's ship coordinate system xoy by S1；S2, setting follow ship to follow current location of the ship under leader's ship coordinate system relative to leader's ship in the target position under leader's ship coordinate system and based on dual communication devices calculating；S3, control follow navigation direction and the route speed of ship；S4, judgement follow ship whether reach the target position under leader ship coordinate system and leader ship whether stop motion, if otherwise continuing to execute step S2, if terminating, complete unmanned boat collaboration formation.The present invention follow ship can independently with leader's ship formed setting formation, can intelligent control unmanned boat, have the advantages that safe and stable, reliable.
Description
Technical field
The invention belongs to unmanned boat control technology field, specifically a kind of leader's ship-based on dual communication devices with
With the collaboration formation method under ship form.
Background technique
Unmanned boat is a kind of with contexture by self, autonomous navigation ability, and can independently complete environment sensing, target acquisition etc.
The small-size water surface platform of task can undertake information gathering, Snoopy Protocol, clearance, antisubmarine, precision strike, arrest, hydro_geography are surveyed
It examines, anti-terrorism, the functions such as relayed communications.Unmanned boat can be used a variety of different modules, carry different biographies according to the difference of mission
Sensor executes equipment, and execution task also shows that diversity.
However only independently fight by single unmanned boat in future war and be difficult to adapt to complicated battlefield surroundings, and have
The unmanned boat cluster formation of collaborative strategy can preferably complete task.Because the unmanned boat cluster that more unmanned boats are constituted can subtract
The small resistance integrally navigated by water enables unmanned boat cluster to have in the case where executing complex task, multitask and complex environment relatively large
Scope of activities, bigger task completes probability and higher protection.More unmanned boat work compounds, not only overcome
The defect of single unmanned boat functionally, and 1 plus 1 effect for being greater than 2 can be generated.Largely, operating efficiency is improved
And job area.Therefore, more unmanned boat work compounds are inevitable trend, before the army and the people's application field has application well
Scape.But when the unmanned boat cluster a variety of different tasks of execution, different formations not only will affect the implementation effect of the task, but also
Additional effect can be generated to the next task in task chain.Especially when the same area executes different tasks, in time
Evolution can make unmanned boat the safety is improved, moreover it is possible to promote the execution efficiency of task.Secondly, for some bursts,
Additional event, evolution are sometimes necessary, important.However the formation of each task optimization and each task optimization with appoint
The relationship for global optimization of being engaged in, to formation control, there is the influences that can not ignore.Therefore a variety of different tasks are to unmanned boat collection
The influence of group's formation becomes one of the critical issue that can not ignore.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of, and the unmanned boat based on dual communication devices cooperates with formation
Method.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme:
A kind of unmanned boat collaboration formation method based on dual communication devices, comprising the following steps:
Water-surface areas where unmanned boat is treated as two-dimensional surface, establishes fixed coordinate system XOY and leader's ship coordinate system by S1
xoy；
S2 sets the target position for following ship under leader's ship coordinate system and follows ship leading based on dual communication devices calculating
The current location under ship coordinate system relative to leader's ship is led, leader's ship is equipped with communication equipment, follows the head of ship and tail portion each
If a communication equipment forms dual communication devices；
S3, control follow navigation direction and the route speed of ship；
S4, judgement follow whether ship reaches the target position under leader's ship coordinate system and whether leader's ship stops transporting
It is dynamic, if otherwise continuing to execute step S2, if terminating, completes unmanned boat collaboration and form into columns.
The x-axis of leader's ship coordinate system is parallel to the X-axis of fixed coordinate system, and the y-axis of leader's ship coordinate system is parallel to solid
The Y-axis of position fixing system is the center of leader's ship with the origin o of leader's ship coordinate system.
The step S2 is specifically included:
S201 will follow target position of the ship under leader's ship coordinate system to be sent to corresponding unmanned boat；
S202, the co-located calculating based on dual communication devices follow current relative distance of the ship relative to leader's ship:
Wherein, L[i]Current relative distance of the ship relative to leader's ship is followed for i-th,For on leader's ship
Communication equipment to the head and tail portion followed on ship i communication equipment distance, c be dual communication devices spread speed,For follow the communication equipment on head and tail portion on ship i receive leader ship communication device signal time, t0For
The dual communication devices of ship are led to send the time of signal, d is the fuselage length of unmanned boat, and c refers to signal velocity；
S203, the co-located calculating based on dual communication devices follow current relative bearing of the ship relative to leader's ship:
Wherein, θ[i]Current relative bearing of the ship relative to leader's ship is followed for i-th；
S204 is obtained and is followed the current course angle of ship i, according to follow current relative distance of the ship relative to leader's ship, when
Preceding relative bearing and follow ship current course angle calculate follow current position coordinates (x of the ship under leader's ship coordinate system[i],
y[i])。
The step S3 is specifically included:
S301, calculating current time follow the current location of ship i to the distance and desired course of target position:
Wherein, d[i]To follow the current location ship i to the distance of target position,For the desired course for following ship i,To follow target position of the ship i under leader's ship coordinate system, (x[i],y[i]) it is to follow ship i coordinate under leader's ship
Current location under system；
S302, design fuzzy Control follow the navigation direction of ship, and the input of the fuzzy controller is course error e
With yaw rate r, export as real navigation direction；
S303, based on the current location and target position for following ship, desin speed controller controls this and follows ship speed, speed
Spending controller isWherein T is a control cycle time.
The present invention follow ship can independently with leader's ship formed setting formation, can intelligent control unmanned boat, have safety,
Stable, reliable advantage.
Detailed description of the invention
Attached drawing 1 is flow diagram of the present invention；
Attached drawing 2 is the co-located figure based on dual communication devices in the embodiment of the present invention；
Attached drawing 3 is the fuzzy controller that the designed control of the present invention follows ship navigation direction.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention will be further described with reference to the accompanying drawing.This hair
The embodiment of bright offer is only used in further detail being illustrated the present invention as the referential citing for building of forming into columns, without
It can be construed to limitation of the present invention, which is tightly used as a common example, cannot be limited to the example.The present invention
Disclosed method can provide many different embodiments, for describing corresponding structure in the present invention, setting description etc., and
Corresponding popularization is not intended to limit the present invention.In addition, exemplary number or letter in the present invention, only simplify and state
It is clear, it can be extended to corresponding number or letter in remaining different example, cannot be as limitation, itself not generation
Relationship between the essence or setting of the discussed embodiment of table.Various techniques and material in example involved in the present invention are ability
The common material of domain those of ordinary skill, the technology of use are also common technological means.In addition, being removed in description of the invention
Special annotation, term are that broadly understood.
As illustrated in the accompanying drawings from 1 to 3, present invention discloses a kind of, and the unmanned boat based on dual communication devices cooperates with formation method, is based on
Leader's ship-follows ship form to carry out collaboration formation, specifically includes the following steps:
Water-surface areas where unmanned boat is treated as two-dimensional surface, establishes fixed coordinate system XOY and leader's ship coordinate system by S1
xoy；The x-axis of leader's ship coordinate system is parallel to the X-axis of fixed coordinate system, and the y-axis of leader's ship coordinate system is parallel to fixed coordinate system
Y-axis, be the center of leader's ship with the origin o of leader's ship coordinate system.
S2 sets the target position for following ship under leader's ship coordinate system and follows ship leading based on dual communication devices calculating
The current location under ship coordinate system relative to leader's ship is led, leader's ship is equipped with communication equipment, follows the head of ship and tail portion each
If a communication equipment forms dual communication devices.
S3, control follow navigation direction and the route speed of ship.
S4, judgement follow whether ship reaches the target position under leader's ship coordinate system and whether leader's ship stops transporting
It is dynamic, if otherwise continuing to execute step S2, if terminating, completes unmanned boat collaboration and form into columns.Leader's ship ought be met simultaneously to stop
When moving, and ship being followed to have arrived at the target position under leader's ship coordinate system, just it is considered as completion collaboration and forms into columns.
The step S2 is specifically included:
S201 will follow target position of the ship under leader's ship coordinate system to be sent to corresponding unmanned boat.
S202, the co-located calculating based on dual communication devices follow current relative distance of the ship relative to leader's ship:
Wherein, L[i]Current relative distance of the ship relative to leader's ship is followed for i-th,It is logical on leader's ship
Believe equipment to the head and tail portion followed on ship i communication equipment distance, c be dual communication devices spread speed,
For follow the communication equipment on head and tail portion on ship i receive leader ship communication device signal time, t0For leader's ship
Dual communication devices send time of signal, d is the fuselage length of unmanned boat, and c refers to signal velocity.
S203, the co-located calculating based on dual communication devices follow current relative bearing of the ship relative to leader's ship:
Wherein, θ[i]Current relative bearing of the ship relative to leader's ship is followed for i-th；
S204 is obtained and is followed the current course angle of ship i, according to follow current relative distance of the ship relative to leader's ship, when
Preceding relative bearing and follow ship current course angle calculate follow current position coordinates (x of the ship under leader's ship coordinate system[i],
y[i]), | x[i]|=L[i]cos(θ[i]-ψ[i]), | y[i]|=L[i]sin(θ[i]-ψ[i])。
As shown in Fig. 2,It is wherein respectively to follow ship 1,2 opposite when i=1,2
In the current relative distance of leader's ship.
Wherein when i=1,2 be respectively follow ship 1,2 relative to
Lead the current relative bearing of ship.
According to following current relative distance, current relative bearing and current course angle of the ship relative to leader's ship to calculate
Current position coordinates of the ship 1,2 under leader's ship coordinate system are followed to be respectively as follows: (L[1]cos(θ[1]-ψ[1]),-L[i]sin(θ[1]-
ψ[1]))、(L[2]cos(θ[2]-ψ[2]),-L[i]sin(θ[2]-ψ[2]))。
The step S3 is specifically included:
S301, calculating current time follow the current location of ship i to the distance and desired course of target position:
When calculating desired course using above-mentioned formula it is noted that following ship in the differentiation of leader's ship coordinate system lower quadrant, need
Which identify in quadrant.
Wherein, d[i]To follow the current location ship i to the distance of target position,For the desired course for following ship i,To follow target position of the ship i under leader's ship coordinate system, (x[i],y[i]) it is to follow ship i coordinate under leader's ship
Current location under system.
S302, design fuzzy Control follow the navigation direction of ship, and the input of the fuzzy controller is course error e
With yaw rate r, export as real navigation direction；
S303, based on the current location and target position for following ship, desin speed controller controls this and follows ship speed, speed
Spending controller isWherein T is a control cycle time.
It is wherein respectively to follow ship 1,2 current locations when i=1,2
To the distance of target position.
It is wherein respectively to follow the current of ship 1,2 when i=1,2
Course.
In addition, being fuzzy controller as shown in Fig. 3, FG is Fuzzy Gain regulating device, and FA is basic fuzzy control
Device, Ke、Kr、KyFor 3 fixed quantisation factors of Basic Fuzzy Controller.Fuzzy self-tuning controller, which includes one, has fixation
Quantizing factor Ke、Kr、KyBasic Fuzzy Controller FA and three Fuzzy Gain regulating device FG, three Fuzzy Gains adjust dress
Set output namely the scale factor k of FGe、kr、kyFor multiplying the quantizing factor K newly obtained in the fixed quantisation factoreke、Krkr、
KykyBe it is adjustable, the optimization of quantizing factor value and control target match.
It should be noted that these are only the preferred embodiment of the present invention, it is not intended to restrict the invention, although ginseng
According to embodiment, invention is explained in detail, for those skilled in the art, still can be to aforementioned reality
Technical solution documented by example is applied to modify or equivalent replacement of some of the technical features, but it is all in this hair
Within bright spirit and principle, any modification, equivalent replacement, improvement and so on should be included in protection scope of the present invention
Within.
Claims (4)
1. a kind of unmanned boat based on dual communication devices cooperates with formation method, comprising the following steps:
Water-surface areas where unmanned boat is treated as two-dimensional surface, establishes fixed coordinate system XOY and leader's ship coordinate system xoy by S1；
S2 sets the target position for following ship under leader's ship coordinate system and follows ship in leader's ship based on dual communication devices calculating
Current location under coordinate system relative to leader's ship, leader's ship are equipped with communication equipment, the head of ship and tail portion are followed respectively to set one
A communication equipment forms dual communication devices；
S3, control follow navigation direction and the route speed of ship；
S4, judgement follow ship whether reach the target position under leader ship coordinate system and lead ship whether stop motion, if
Otherwise step S2 is continued to execute, if then terminating, unmanned boat collaboration is completed and forms into columns.
2. the unmanned boat according to claim 1 based on dual communication devices cooperates with formation method, which is characterized in that the neck
The x-axis for leading ship coordinate system is parallel to the X-axis of fixed coordinate system, and the y-axis of leader's ship coordinate system is parallel to the Y-axis of fixed coordinate system,
It is the center of leader's ship with the origin o of leader's ship coordinate system.
3. the unmanned boat according to claim 2 based on dual communication devices cooperates with formation method, which is characterized in that the step
Rapid S2 is specifically included:
S201 will follow target position of the ship under leader's ship coordinate system to be sent to corresponding unmanned boat；
S202, the co-located calculating based on dual communication devices follow current relative distance of the ship relative to leader's ship:
Wherein, L[i]Current relative distance of the ship relative to leader's ship is followed for i-th,For the communication on leader's ship
Equipment to the head and tail portion followed on ship i communication equipment distance, c be dual communication devices spread speed,For
The communication equipment on head and tail portion on ship i is followed to receive the time of the communication device signal of leader's ship, t0For leader's ship
Dual communication devices send the time of signal, and d is the fuselage length of unmanned boat, and c refers to signal velocity；
S203, the co-located calculating based on dual communication devices follow current relative bearing of the ship relative to leader's ship:
Wherein, θ[i]Current relative bearing of the ship relative to leader's ship is followed for i-th；
S204, obtains the current course angle for following ship i, and foundation follows current relative distance, current phase of the ship relative to leader's ship
Azimuthal and follow ship current course angle calculate follow current position coordinates (x of the ship under leader's ship coordinate system[i],y[i]), | x[i]|=L[i]cos(θ[i]-ψ[i]), | y[i|=L[i]sin(θ[i]-ψ[i])。
4. the unmanned boat according to claim 3 based on dual communication devices cooperates with formation method, which is characterized in that the step
Rapid S3 is specifically included:
S301, calculating current time follow the current location of ship i to the distance and desired course of target position:
Wherein, d[i]To follow the current location ship i to the distance of target position,For the desired course for following ship i,
To follow target position of the ship i under leader's ship coordinate system, (x[i],y[i]) it is to follow ship i working as under coordinate system under leader's ship
Front position；
S302, design fuzzy Control follow the navigation direction of ship, and the input of the fuzzy controller is for course error e and partially
Boat rate r exports as real navigation direction；
S303, based on the current location and target position for following ship, desin speed controller controls this and follows ship speed, speed control
Device processed isWherein T is a control cycle time；
Course error is the difference of desired course and current course.
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