CN113110467A - Unmanned ship formation planning and guidance method and system under switching communication topology - Google Patents

Unmanned ship formation planning and guidance method and system under switching communication topology Download PDF

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CN113110467A
CN113110467A CN202110437078.XA CN202110437078A CN113110467A CN 113110467 A CN113110467 A CN 113110467A CN 202110437078 A CN202110437078 A CN 202110437078A CN 113110467 A CN113110467 A CN 113110467A
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unmanned ship
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CN113110467B (en
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彭周华
古楠
徐彦平
刘陆
王浩亮
王丹
尹勇
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Dalian Maritime University
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Abstract

The invention discloses a method and a system for unmanned ship formation planning and guidance under a switching communication topology, wherein the system comprises a path guidance motion generator module, a distributed path parameter updating module, a double dipole vector field module, a vector field-based guidance law module and a communication network; the invention adopts the path guidance including motion generator module to realize various including control formation formations, and improves the cooperative flexibility among a plurality of unmanned ships and the adaptability to complex marine environments; the communication layer and the guidance layer are independently and separately designed, so that the decoupling of communication and guidance is realized, and the flexibility of design and realization is improved; and a vector field-based guidance law is adopted to track a reference point, so that smooth transition of the under-actuated multi-unmanned ship in an initial transient process and a process of team switching is realized.

Description

Unmanned ship formation planning and guidance method and system under switching communication topology
Technical Field
The invention relates to the field of unmanned ship control, in particular to an unmanned ship formation planning and guidance method and system under a switching communication topology.
Background
The existing multi-unmanned ship formation control method mainly comprises a piloting-following method, a virtual structure method, a graph theory method, an artificial potential field method and the like. The formation control based on the graph theory method comprises distributed operation based on a single pilot and distributed contained operation based on multiple pilots. From the aspect of controller design, the existing multi-unmanned ship containing the control method still has the following defects:
firstly, the conventional underactuated multi-unmanned ship containing control method mostly considers a fixed communication topology, does not consider the problem of multi-unmanned ship containing control under a switching communication topology structure, cannot realize various containing control formation shapes, and reduces the flexibility of unmanned ship formation under complex sea conditions.
Secondly, the existing unmanned ship comprises a control formation control method, a communication protocol and a guidance control are usually designed together, the communication link and the guidance link are coupled, the decoupling design of the communication protocol and the guidance control cannot be realized, and the flexibility of design and realization is reduced.
Thirdly, the existing unmanned ship control method for controlling formation by manipulation does not consider the transient control process, so that the unmanned ship cannot smoothly track a given curve, and particularly, the stable transition in the formation switching process of multiple unmanned ships cannot be ensured.
Disclosure of Invention
The invention provides a method and a system for unmanned ship formation planning and guidance under a switching communication topology, which aim to overcome the technical problems.
The invention discloses a unmanned ship formation planning and guidance method under a switching communication topology, which comprises the following steps:
establishing an unmanned ship formation model and an unmanned ship kinematics model; the unmanned ship formation model comprises: the system comprises a super leader, at least two virtual leaders, a plurality of unmanned ships and a communication network for mutual communication among unmanned ship formation;
acquiring error-containing signals of a reference point of the controlled unmanned ship according to reference position signals of the neighbor unmanned ship and the neighbor virtual leader acquired from a communication network;
obtaining reference path information of the updated virtual leader according to the path parameters of the kth virtual leader obtained from the communication network, the included error signal and the path parameter deviation between the kth virtual leader and the super leader, and updating the included error signal;
obtaining a reference point and a reference position signal of the controlled unmanned ship according to the updated reference path information and the error-containing signal; generating a vector field signal of the controlled unmanned ship according to the reference point and the reference position signal of the controlled unmanned ship;
obtaining a guidance signal according to the vector field signal; and the controlled unmanned ship tracks the guidance signal, and when the topological structure of the communication network is changed, the tracking error between the controlled unmanned ship and the virtual leader is quickly converged to zero and kept.
Further, the unmanned ship kinematics model is expressed as:
Figure BDA0003033562150000021
wherein the subscript i represents the i-th drone, i.e. the controlled drone; x is the number ofi、yi、ψiRespectively representing the positions of the unmanned ship on an x axis and a y axis under a terrestrial coordinate system and a yawing angle; u. ofi、vi、riRespectively representing the surging speed, the drifting speed and the heading angle speed of the unmanned ship under a ship body coordinate system.
Further, the obtaining of the error-containing signal of the reference point of the controlled unmanned ship according to the reference position signals of the neighbor unmanned ship and the neighbor virtual leader acquired from the communication network includes:
the reference position signal of the neighboring unmanned ship is expressed as
Figure BDA0003033562150000022
Wherein
Figure BDA0003033562150000023
Respectively are the horizontal coordinate and the vertical coordinate of the neighbor unmanned ship reference position signal; simultaneously transmitting a position reference signal of the controlled unmanned ship to a communication network;
a reference position signal of the neighbor virtual leader represented as:
pkr(θk)＝[xk(θk)，yk(θk)]Twherein thetakIs a path parameter obtained from a communication network;
calculating a contained error signal for the reference point of the i-th unmanned vessel by equation (2), expressed as:
Figure BDA0003033562150000024
definition of
Figure BDA0003033562150000025
Is a communication topology diagram in which, among other things,
Figure BDA0003033562150000026
Figure BDA0003033562150000027
is a set of edges, and is,
Figure BDA0003033562150000028
and
Figure BDA0003033562150000029
respectively representing M follower nodes and N-M virtual leader nodes,
Figure BDA00030335621500000210
for a super leader node, (i, j) indicates that the node i obtains information from the node j, and when (i, j) belongs to epsilon, aij1 is ═ 1; when in use
Figure BDA00030335621500000211
When a isij0; when (i, k) ∈ ε, aik1 is ═ 1; when in use
Figure BDA00030335621500000212
Figure BDA00030335621500000316
When a isik＝0。
Further, the obtaining reference path information of the updated virtual leader according to the path parameters of the kth virtual leader obtained from the communication network, the included error signal, and the path parameter deviation between the kth virtual leader and the super leader, and updating the included error signal includes:
after the derivation is performed on the formula (2), reference path information of the kth virtual leader is obtained, and is represented as:
Figure BDA0003033562150000031
wherein the content of the first and second substances,
Figure BDA0003033562150000032
wkupdating the law for the distributed path parameters of the kth virtual leader;
calculating distributed path parameter updating law w of k-th virtual leader by equation (4)kExpressed as:
Figure BDA0003033562150000033
wherein the content of the first and second substances,
Figure BDA0003033562150000034
the gain is updated for the path parameters and,
Figure BDA0003033562150000035
calculating a path parameter deviation between the kth virtual leader and the super leader by equation (5)
Figure BDA0003033562150000036
Expressed as:
Figure BDA0003033562150000037
wherein the content of the first and second substances,
Figure BDA0003033562150000038
Figure BDA0003033562150000039
further, the obtaining a reference point and a reference position signal of the controlled unmanned ship according to the updated reference path information and the error-containing signal includes:
calculating a reference point for the i-th unmanned ship by equation (6), expressed as:
Figure BDA00030335621500000310
wherein the content of the first and second substances,
Figure BDA00030335621500000311
in order to be a matrix of gains, the gain matrix,
Figure BDA00030335621500000312
and
Figure BDA00030335621500000313
are all control gains.
Further, said generating a vector field signal of the controlled unmanned ship according to the reference point and the reference position signal of the controlled unmanned ship comprises:
the reference point of the updated i-th unmanned ship is represented as:
Figure BDA00030335621500000314
the current reference position signal of the i-th unmanned ship is expressed as: p is a radical ofi＝[xi，yi]T；
The vector field signal for the i-th unmanned vessel is calculated by equation (7) as:
Figure BDA00030335621500000315
wherein the vector field
Figure BDA0003033562150000041
Is from the ith reference point
Figure BDA0003033562150000042
The result is that,
Figure BDA0003033562150000043
and has a kappai≥2，
Figure BDA0003033562150000044
Further, the obtaining a guidance signal according to the vector field signal includes:
calculating the guidance signal by equation (8)
Figure BDA0003033562150000045
And
Figure BDA0003033562150000046
expressed as:
Figure BDA0003033562150000047
wherein the content of the first and second substances,
Figure BDA0003033562150000048
and
Figure BDA0003033562150000049
in order to gain the guidance in the direction of the vehicle,
Figure BDA00030335621500000410
and
Figure BDA00030335621500000411
to avoid suppressing the parameters of the guidance signal during transients.
An unmanned ship formation planning and guidance system under a switching communication topology comprises: the path guidance comprises a motion generator module, a distributed path parameter updating module, a double-dipole vector field module, a vector field-based guidance law module and a communication network; unmanned ship formation, including: the system comprises a super leader, at least two virtual leaders and a plurality of unmanned ships;
two input ends of the distributed path parameter updating module are respectively connected with the communication network and the path guidance motion generator module, and the output ends of the distributed path parameter updating module are respectively connected with the communication network and the path guidance motion generator module; the input end of the path guidance including motion generator module is respectively connected with the communication network and the distributed path parameter updating module, and the output end of the path guidance including motion generator module is respectively connected with the communication network and the distributed path parameter updating module as well as the dipole vector field module; the input end of the double-dipole vector field module is respectively connected with the output end of the controlled unmanned ship and the path guidance including motion generator module, and the output end of the double-dipole vector field module is connected with the guidance law module based on the vector field; the input end of the vector field-based guidance law module is connected with the double-dipole vector field module, and the output end of the vector field-based guidance law module is connected with the controlled unmanned ship;
the communication network is used for communication among unmanned ship formation; the path guidance comprises a motion generator module, which is used for obtaining an error-containing signal of a reference point of the controlled unmanned ship according to reference path information of the unmanned ship and the virtual leader and outputting the error-containing signal to the distributed path parameter updating module; obtaining a reference point of the controlled unmanned ship according to the reference path information of the virtual leader and the contained error signal, and outputting the reference point to the double dipole vector field module; the distributed path parameter updating module is configured to obtain reference path information of the virtual leader according to the path parameter of the k-th virtual leader and the included error signal acquired from the communication network, and the path parameter deviation between the k-th virtual leader and the super leader, and output the reference path information to the path guidance included motion generator module; the dual dipole vector field module is used for obtaining a vector field signal of the unmanned ship according to the reference point of the controlled unmanned ship and a reference position signal input by the controlled unmanned ship; the vector field-based guidance law module is used for obtaining a guidance signal according to the vector field signal; and the controlled unmanned ship tracks the guidance signal, and when the topological structure of the communication network is changed, the tracking error between the controlled unmanned ship and the virtual leader is quickly converged to zero and kept.
The invention adopts the path guidance including motion generator module to solve the problem of control of the multi-unmanned ship including operation under the switching communication topological structure, and improves the coordination flexibility among the multi-unmanned ship and the adaptability to the complex marine environment; the communication layer and the guidance layer are independently and separately designed, so that the decoupling of communication and guidance is realized, and the flexibility of design and realization is improved; and a vector field-based guidance law is adopted to track a reference point, so that smooth transition of the under-actuated multi-unmanned ship in an initial transient process and a process of team switching is realized.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a unmanned ship formation planning and guidance system under a switching communication topology;
FIG. 2a is a control communication topological diagram of four under-actuated unmanned ship formation in a simulation test at t e [0, 250 ];
FIG. 2b is a control communication topological diagram of four under-actuated unmanned ship formation in a simulation test at t e [250, 500 ];
FIG. 3 is a diagram of formation motion trajectories of four under-actuated unmanned ships in a simulation test;
FIG. 4 is a view of a double dipole vector field in a simulation test;
FIG. 5 is a curve of control tracking error included in x direction of four under-actuated unmanned vehicles in simulation test;
FIG. 6 is a y-direction contained maneuvering tracking error curve of four under-actuated unmanned ships in a simulation test;
FIG. 7 is a diagram of forward velocity guidance signals in a simulation test;
FIG. 8 is a diagram of yaw velocity guidance signals in a simulation test;
fig. 9 is a flowchart of a method for unmanned ship formation planning and guidance under a switching communication topology.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 9, the present embodiment provides a method for unmanned ship formation planning and guidance under a switching communication topology, including:
101. establishing an unmanned ship formation model and an unmanned ship kinematics model; unmanned ship formation model includes: the system comprises a super leader, at least two virtual leaders, a plurality of unmanned ships and a communication network for mutual communication among unmanned ship formation;
in particular, the unmanned ship kinematics model, expressed as:
Figure BDA0003033562150000061
wherein, the lower corner mark i represents the i-th unmanned ship, namely the controlled unmanned ship; x is the number ofi、yi、ψiRespectively representing the positions of the unmanned ship on an x axis and a y axis under a terrestrial coordinate system and a yawing angle; u. ofi、vi、riRespectively representing the surging speed, the drifting speed and the heading angle speed of the unmanned ship under a ship body coordinate system.
102. Acquiring error-containing signals of a reference point of the controlled unmanned ship according to reference position signals of the neighbor unmanned ship and the neighbor virtual leader acquired from the communication network;
specifically, obtaining an error-containing signal of a reference point of the controlled unmanned ship according to reference position signals of a neighbor unmanned ship and a neighbor virtual leader acquired from a communication network includes:
the reference position signal of the neighboring unmanned ship is expressed as
Figure BDA0003033562150000062
Wherein
Figure BDA0003033562150000063
Respectively are the horizontal coordinate and the vertical coordinate of the neighbor unmanned ship reference position signal; simultaneously transmitting a position reference signal of the controlled unmanned ship to a communication network;
a reference position signal of the neighbor virtual leader represented as:
pkr(θk)＝[xk(θk)，yk(θk)]Twherein thetakIs a path parameter obtained from a communication network;
calculating a contained error signal for the reference point of the i-th unmanned vessel by equation (2), expressed as:
Figure BDA0003033562150000064
definition of
Figure BDA0003033562150000065
Is a communication topology diagram in which, among other things,
Figure BDA0003033562150000066
Figure BDA0003033562150000067
is a set of edges, and is,
Figure BDA0003033562150000068
and
Figure BDA0003033562150000071
respectively representing M follower nodes and N-M virtual leader nodes,
Figure BDA0003033562150000072
for a super leader node, (i, j) indicates that the node i obtains information from the node j, and when (i, j) belongs to epsilon, aij1 is ═ 1; when in use
Figure BDA00030335621500000716
When a isij0; when (i, k) ∈ ε, aik1 is ═ 1; when in use
Figure BDA00030335621500000717
Figure BDA00030335621500000718
When a isik＝0。
103. Obtaining reference path information of the updated virtual leader according to the path parameters of the kth virtual leader obtained from the communication network, the included error signals and the path parameter deviation between the kth virtual leader and the super leader, and updating the included error signals;
specifically, the derivation is performed on equation (2) to obtain reference path information of the kth virtual leader, which is expressed as:
Figure BDA0003033562150000073
wherein the content of the first and second substances,
Figure BDA0003033562150000074
wkupdating the law for the distributed path parameters of the kth virtual leader;
calculating distributed path parameter updating law w of k-th virtual leader by equation (4)kExpressed as:
Figure BDA0003033562150000075
wherein the content of the first and second substances,
Figure BDA0003033562150000076
the gain is updated for the path parameters and,
Figure BDA0003033562150000077
calculating a path parameter deviation between the kth virtual leader and the super leader by equation (5)
Figure BDA0003033562150000078
Expressed as:
Figure BDA0003033562150000079
wherein the content of the first and second substances,
Figure BDA00030335621500000710
Figure BDA00030335621500000711
104. obtaining a reference point and a reference position signal of the controlled unmanned ship according to the updated reference path information and the error-containing signal; generating a vector field signal of the controlled unmanned ship according to the reference point and the reference position signal of the controlled unmanned ship;
specifically, the reference point of the i-th unmanned ship is calculated by equation (6), expressed as:
Figure BDA00030335621500000712
wherein the content of the first and second substances,
Figure BDA00030335621500000713
in order to be a matrix of gains, the gain matrix,
Figure BDA00030335621500000714
and
Figure BDA00030335621500000715
are all control gains.
The reference position signal of the controlled unmanned ship is directly acquired from the controlled unmanned ship.
The reference points of the updated i-th unmanned ship are represented as:
Figure BDA0003033562150000081
the current reference position signal of the ith unmanned ship is expressed as: p is a radical ofi＝[xi，yi]T；
The vector field signal for the i-th unmanned vessel is calculated by equation (7) as:
Figure BDA0003033562150000082
wherein the vector field
Figure BDA0003033562150000083
Is from the ith reference point
Figure BDA0003033562150000084
The result is that,
Figure BDA0003033562150000085
and has a kappai≥2，
Figure BDA0003033562150000086
105. Obtaining a guidance signal according to the vector field signal; and when the topological structure of the communication network is changed through tracking the guidance signal, the tracking error between the controlled unmanned ship and the virtual leader is quickly converged to zero and kept.
Specifically, the guidance signal is calculated by equation (8)
Figure BDA0003033562150000087
And
Figure BDA0003033562150000088
expressed as:
Figure BDA0003033562150000089
wherein the content of the first and second substances,
Figure BDA00030335621500000810
and
Figure BDA00030335621500000811
in order to gain the guidance in the direction of the vehicle,
Figure BDA00030335621500000812
and
Figure BDA00030335621500000813
to avoid suppressing the parameters of the guidance signal during transients.
As shown in fig. 1, a system for unmanned ship formation planning and guidance under a switching communication topology includes: the path guidance comprises a motion generator module, a distributed path parameter updating module, a double-dipole vector field module, a vector field-based guidance law module and a communication network; unmanned ship formation, including: the system comprises a super leader, at least two virtual leaders and a plurality of unmanned ships;
two input ends of the distributed path parameter updating module are respectively connected with the communication network and the path guidance motion generator module, and the output ends of the distributed path parameter updating module are respectively connected with the communication network and the path guidance motion generator module; the input end of the path guidance including motion generator module is respectively connected with the communication network and the distributed path parameter updating module, and the output end of the path guidance including motion generator module is respectively connected with the communication network, the distributed path parameter updating module and the dipole vector field module; the input end of the double-dipole vector field module is respectively connected with the output end of the controlled unmanned ship and the path guidance including motion generator module, and the output end of the double-dipole vector field module is connected with the guidance law module based on the vector field; the input end of the vector field-based guidance law module is connected with the double-dipole vector field module, and the output end of the vector field-based guidance law module is connected with the controlled unmanned ship;
the communication network is used for communication among unmanned ship formations; the path guidance including motion generator module is used for obtaining an including error signal of a reference point of the controlled unmanned ship according to the reference path information of the unmanned ship and the virtual leader and outputting the including error signal to the distributed path parameter updating module; obtaining a reference point of the controlled unmanned ship according to the reference path information of the virtual leader and the contained error signal, and outputting the reference point to the double dipole vector field module; the distributed path parameter updating module is used for obtaining reference path information of the virtual leader according to the path parameters of the kth virtual leader, the included error signals and the path parameter deviation between the kth virtual leader and the super leader, which are obtained from the communication network, and outputting the reference path information to the path guide included motion generator module; the dual-dipole vector field module is used for obtaining a vector field signal of the unmanned ship according to a reference point of the controlled unmanned ship and a reference position signal input by the controlled unmanned ship; the guidance law module based on the vector field is used for obtaining a guidance signal according to the vector field signal; and when the topological structure of the communication network is changed through tracking the guidance signal, the tracking error between the controlled unmanned ship and the virtual leader is quickly converged to zero and kept.
Simulation test:
the invention is further explained by taking the time-varying formation control of four under-actuated unmanned ships as an example.
Communication topologies of four under-actuated unmanned ships in the formation control process are shown in fig. 2a and 2b, wherein labels marked as 0 in the figures are super leaders, numbers 1-4 represent the under-actuated unmanned ships, and numbers 5-8 represent virtual leaders. As shown in fig. 2a, in the time t epsilon [0, 250], virtual leader No. 5 acquires path information from super leader No. 0, unmanned ship No. 1 and unmanned ship No. 2 and virtual leaders No. 5 and 7 mutually transmit path information, unmanned ship No. 2 and unmanned ships No. 1 and 3 mutually transmit path information, unmanned ship No. 3 and unmanned ships No. 2 and 4 mutually transmit path information, unmanned ship No. 4 and unmanned ship No. 3 and virtual leaders No. 6 and 8 mutually transmit path information, virtual leader No. 5 and 7 respectively, the number 6 virtual leaders mutually transmit path information, the number 6 virtual leaders respectively mutually transmit path information with the number 5 and 8 virtual leaders, the number 7 virtual leaders respectively mutually transmit path information with the number 5 and 8 virtual leaders, and the number 8 virtual leaders respectively mutually transmit path information with the number 6 and 7 virtual leaders; as shown in fig. 2b, in the time t epsilon [250, 500], virtual leader No. 5 acquires path information from super leader No. 0, unmanned ship No. 1, unmanned ship No. 2 and virtual leader No. 5 mutually transmit path information, unmanned ship No. 2, unmanned ship No. 1, unmanned ship No. 3 and virtual leader No. 7 mutually transmit path information, unmanned ship No. 3, unmanned ship No. 2, unmanned ship No. 4 and virtual leader No. 8 mutually transmit path information, unmanned ship No. 4, unmanned ship No. 3 and virtual leader No. 6 mutually transmit path information, virtual leader No. 5 and 7 respectively, virtual leader No. 6 mutually transmits path information, virtual leader No. 6 mutually transmits path information with virtual leaders No. 5 and 8, respectively, virtual leader No. 7 mutually transmits path information with unmanned ship No. 2 and virtual leader No. 5, respectively, and virtual leader No. 8 mutually transmits path information with unmanned ship No. 3 and virtual leader No. 6, respectively.
The specific parameters are as follows:
speed v of the superleaders0.5, the given parameterized path is:
θk＝[0.5θk，0.5θk+40]，k＝5，7
θk＝[0.5θk+40，0.5θk]，k＝6，8
Figure BDA0003033562150000101
Figure BDA0003033562150000102
κi＝2，αi＝[1，1]T
Figure BDA0003033562150000103
some of the initial conditions used were as follows:
θ5(0)＝θ6(0)＝θ7(0)＝θ8(0)＝0
the path deviation is as follows:
Figure BDA0003033562150000104
Figure BDA0003033562150000105
fig. 3 is a diagram of formation motion trajectories of four under-actuated unmanned ships, in which thin solid lines are paths of the four unmanned ships, thick solid lines are virtual leader paths, dotted lines with circles represent convex hulls, and asterisks represent reference points. It can be seen from the figure that in the case of switching communication topologies, the reference points can converge to a convex hull formed by moving a plurality of virtual leaders along a plurality of parameterized paths, and the corresponding reference points are tracked on the four under-actuated unmanned ships. Fig. 4 is a vector field diagram, which assigns a vector to each point in the spatial subset, and guides the under-actuated unmanned ship moving in the vector field to a desired position, and in the dipole vector field, drives the unmanned ship to an origin aligned with the integral curve, and it can be seen from the diagram that the control method proposed by the present invention can achieve this function. Fig. 5 and fig. 6 show that the x and y directions of four under-actuated unmanned ships contain steering tracking errors, and it can be seen from the figure that the tracking errors converge to zero and remain after the communication topology changes when t is 250 s. Fig. 7 is a diagram of a forward velocity guidance signal, and it can be seen from the diagram that the topology structures of four under-actuated unmanned ships change when t is 250s, and after adjustment for several tens of seconds, the forward velocities of the four under-actuated unmanned ships converge to 0.35m/s and are kept stable. Fig. 8 is a heading angle velocity guidance signal diagram, and it can be seen from the diagram that the topological structures of the four under-actuated unmanned ships change when t is 250s, and after adjustment for several tens of seconds, the heading angle velocities of the four under-actuated unmanned ships converge to 0 and remain stable.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A unmanned ship formation planning and guidance method under a switching communication topology is characterized by comprising the following steps:
establishing an unmanned ship formation model and an unmanned ship kinematics model; the unmanned ship formation model comprises: the system comprises a super leader, at least two virtual leaders, a plurality of unmanned ships and a communication network for mutual communication among unmanned ship formation;
acquiring error-containing signals of a reference point of the controlled unmanned ship according to reference position signals of the neighbor unmanned ship and the neighbor virtual leader acquired from a communication network;
obtaining reference path information of the updated virtual leader according to the path parameters of the kth virtual leader obtained from the communication network, the included error signal and the path parameter deviation between the kth virtual leader and the super leader, and updating the included error signal;
obtaining a reference point and a reference position signal of the controlled unmanned ship according to the updated reference path information and the error-containing signal; generating a vector field signal of the controlled unmanned ship according to the reference point and the reference position signal of the controlled unmanned ship;
obtaining a guidance signal according to the vector field signal; and the controlled unmanned ship tracks the guidance signal, and when the topological structure of the communication network is changed, the tracking error between the controlled unmanned ship and the virtual leader is quickly converged to zero and kept.
2. The unmanned ship formation planning and guidance method under the switching communication topology according to claim 1, wherein the unmanned ship kinematic model is expressed as:
Figure FDA0003033562140000011
wherein the subscript i represents the i-th drone, i.e. the controlled drone; x is the number ofi、yi、ψiRespectively representing the positions of the unmanned ship on an x axis and a y axis under a terrestrial coordinate system and a yawing angle; u. ofi、vi、riRespectively representing the surging speed, the drifting speed and the heading angle speed of the unmanned ship under a ship body coordinate system.
3. The unmanned ship formation planning and guidance method under the switching communication topology according to claim 2, wherein the obtaining of the error-containing signal of the reference point of the controlled unmanned ship according to the reference position signals of the neighbor unmanned ship and the neighbor virtual leader obtained from the communication network comprises:
the reference position signal of the neighboring unmanned ship is expressed as
Figure FDA0003033562140000012
Wherein
Figure FDA0003033562140000013
Respectively are the horizontal coordinate and the vertical coordinate of the neighbor unmanned ship reference position signal; simultaneously transmitting a position reference signal of the controlled unmanned ship to a communication network;
a reference position signal of the neighbor virtual leader represented as:
pkr(θk)＝[xk(θk)，yk(θk)]Twherein thetakIs a path parameter obtained from a communication network;
calculating a contained error signal for the reference point of the i-th unmanned vessel by equation (2), expressed as:
Figure FDA0003033562140000021
definition of
Figure FDA0003033562140000022
Is a communication topology diagram in which, among other things,
Figure FDA0003033562140000023
Figure FDA0003033562140000024
is a set of edges, and is,
Figure FDA0003033562140000025
and
Figure FDA0003033562140000026
respectively representing M follower nodes and N-M virtual leader nodes,
Figure FDA0003033562140000027
for a super leader node, (i, j) indicates that the node i obtains information from the node j, and when (i, j) belongs to epsilon, aij1 is ═ 1; when in use
Figure FDA0003033562140000028
When a isij0; when (i, k) ∈ ε, aik1 is ═ 1; when in use
Figure FDA0003033562140000029
Figure FDA00030335621400000210
When a isik＝0。
4. The unmanned ship formation planning and guidance method under the switching communication topology according to claim 3, wherein the obtaining reference path information of the updated virtual leader according to the path parameters of the kth virtual leader obtained from the communication network, the included error signal, and the path parameter deviation between the kth virtual leader and the super leader, and updating the included error signal comprises:
after the derivation is performed on the formula (2), reference path information of the kth virtual leader is obtained, and is represented as:
Figure FDA00030335621400000211
wherein the content of the first and second substances,
Figure FDA00030335621400000212
wkupdating the law for the distributed path parameters of the kth virtual leader;
calculating distributed path parameter updating law w of k-th virtual leader by equation (4)kExpressed as:
Figure FDA00030335621400000213
wherein the content of the first and second substances,
Figure FDA00030335621400000214
the gain is updated for the path parameters and,
Figure FDA00030335621400000215
calculating a path parameter deviation between the kth virtual leader and the super leader by equation (5)
Figure FDA00030335621400000216
Expressed as:
Figure FDA00030335621400000217
wherein the content of the first and second substances,
Figure FDA00030335621400000218
Figure FDA00030335621400000219
5. the unmanned ship formation planning and guidance method under the switching communication topology according to claim 4, wherein the obtaining of the reference point and the reference position signal of the controlled unmanned ship according to the updated reference path information and the included error signal comprises:
calculating a reference point for the i-th unmanned ship by equation (6), expressed as:
Figure FDA0003033562140000031
wherein the content of the first and second substances,
Figure FDA0003033562140000032
in order to be a matrix of gains, the gain matrix,
Figure FDA0003033562140000033
and
Figure FDA0003033562140000034
are all control gains.
6. The unmanned ship formation planning and guidance method under the switching communication topology according to claim 5, wherein the generating of the vector field signal of the controlled unmanned ship according to the reference point and the reference position signal of the controlled unmanned ship comprises:
the reference point of the updated i-th unmanned ship is represented as:
Figure FDA0003033562140000035
the current reference position signal of the i-th unmanned ship is expressed as: p is a radical ofi＝[xi,yi]T；
The vector field signal for the i-th unmanned vessel is calculated by equation (7) as:
Figure FDA0003033562140000036
wherein the vector field
Figure FDA0003033562140000037
Is from the ith reference point
Figure FDA0003033562140000038
The result is that,
Figure FDA0003033562140000039
and has a kappai≥2，
Figure FDA00030335621400000310
αi≠0。
7. The unmanned ship formation planning and guidance method under the switching communication topology of claim 6, wherein the obtaining of the guidance signal according to the vector field signal comprises:
calculating the guidance signal by equation (8)
Figure FDA00030335621400000311
And
Figure FDA00030335621400000312
expressed as:
Figure FDA00030335621400000313
wherein the content of the first and second substances,
Figure FDA00030335621400000314
and
Figure FDA00030335621400000315
in order to gain the guidance in the direction of the vehicle,
Figure FDA00030335621400000316
Figure FDA00030335621400000317
and
Figure FDA00030335621400000318
to avoid suppressing the parameters of the guidance signal during transients.
8. A unmanned ship formation planning and guidance system under a switching communication topology is characterized by comprising:
the path guidance comprises a motion generator module, a distributed path parameter updating module, a double-dipole vector field module, a vector field-based guidance law module and a communication network;
unmanned ship formation, including: the system comprises a super leader, at least two virtual leaders and a plurality of unmanned ships;
two input ends of the distributed path parameter updating module are respectively connected with the communication network and the path guidance motion generator module, and the output ends of the distributed path parameter updating module are respectively connected with the communication network and the path guidance motion generator module; the input end of the path guidance including motion generator module is respectively connected with the communication network and the distributed path parameter updating module, and the output end of the path guidance including motion generator module is respectively connected with the communication network and the distributed path parameter updating module as well as the dipole vector field module; the input end of the double-dipole vector field module is respectively connected with the output end of the controlled unmanned ship and the path guidance including motion generator module, and the output end of the double-dipole vector field module is connected with the guidance law module based on the vector field; the input end of the vector field-based guidance law module is connected with the double-dipole vector field module, and the output end of the vector field-based guidance law module is connected with the controlled unmanned ship;
the communication network is used for communication among unmanned ship formation;
the path guidance comprises a motion generator module, which is used for obtaining an error-containing signal of a reference point of the controlled unmanned ship according to reference path information of the unmanned ship and the virtual leader and outputting the error-containing signal to the distributed path parameter updating module; obtaining a reference point of the controlled unmanned ship according to the reference path information of the virtual leader and the contained error signal, and outputting the reference point to the double dipole vector field module;
the distributed path parameter updating module is configured to obtain reference path information of the virtual leader according to the path parameter of the k-th virtual leader and the included error signal acquired from the communication network, and the path parameter deviation between the k-th virtual leader and the super leader, and output the reference path information to the path guidance included motion generator module;
the dual dipole vector field module is used for obtaining a vector field signal of the unmanned ship according to the reference point of the controlled unmanned ship and a reference position signal input by the controlled unmanned ship;
the vector field-based guidance law module is used for obtaining a guidance signal according to the vector field signal; and the controlled unmanned ship tracks the guidance signal, and when the topological structure of the communication network is changed, the tracking error between the controlled unmanned ship and the virtual leader is quickly converged to zero and kept.
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