CN115061468A - Unmanned ship formation separating and recovering method - Google Patents
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Abstract
The invention belongs to the technical field of unmanned ship and multi-agent navigation, and particularly relates to a method for separating and recovering formation of unmanned ship formation. When unmanned ship formation needs to execute navigation tasks in specific areas for cluster risk avoidance, the unmanned ship formation can generate a plurality of navigable safety paths by means of the mechanism, sub-formations can form formation by summarizing unmanned ships in the same path according to the path of each unmanned ship, and each sub-formation can form a formation suitable for self formation according to the number of unmanned ships in the formation. The invention is beneficial to improving the exploration and application of unmanned ship formation in the aspects of multi-path and multi-sub formation, provides a new idea for improving the motion mode of the existing unmanned cluster, and indicates the direction for the application of unmanned ship formation in various tasks on the sea.
Description
Technical Field
The invention belongs to the technical field of unmanned ship and multi-agent navigation, and particularly relates to a method for separating and recovering formation of unmanned ship formation.
Background
In recent years, Autonomous Surface unmanned ships (MASS) have been used for marine transportation. Under normal circumstances, an under-actuated autonomous unmanned surface vehicle can complete tasks in the fields of patrol, search and rescue, surveying and mapping and the like, and a plurality of unmanned surfaces can form a formation to complete more complex tasks. The unmanned ship formation has the advantages that the formation can be divided into small-scale formations to complete multiple subtasks, and the formation can also be used as a whole formation to ensure the safety of the formation. The main problems of unmanned ship formation while traveling include how to maintain the formation and to perform path following tasks of the child ships within the formation, and how to divide the formation into smaller-scale formations to perform the tasks separately. For the formation, the formation is reintegrated, wherein the most important is to realize the separation and recovery of the formation.
The formation usually exists as a whole, the navigation path of the ships in the formation is guided singly by a leader in the formation, the formation of unmanned ships makes decisions and acts according to the path of the single leader and collision avoidance behaviors, and the formation is regarded as a whole only to be incapable of meeting the requirements of the formation on safety and collision avoidance because the position of the unmanned ships in the formation is uncertain; when unmanned ships in the formation sail and avoid paths, after the unmanned ships are separated from the control of the formation, the problems that the sub unmanned ships cannot return to the formation, cannot receive the instructions of the formation and the like often exist.
Disclosure of Invention
The invention aims to provide a separation and recovery method for formation of unmanned ship formation, which aims to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a separation and recovery method for formation of unmanned ship formation comprises the following steps:
step 1: establishing a plurality of paths from a specified starting point to a terminal point for unmanned ship formation;
step 2: the unmanned ship formation starts to advance according to a path designed by each ship; in the beginning stage, unmanned ship L is used as a leader of formation, and each unmanned ship is initially provided with sub-target points
And
in agreement, unmanned ship r as LAfter the operation is completed, the state of each unmanned ship is updated to be the leader and the following ship, and the unmanned ships advance according to an iteration cycle;
and step 3: establishing a corresponding formation form according to the number of unmanned ships in each unmanned ship formation;
and 4, step 4: the unmanned ship arrives at the respective corresponding target point
Then, according to the next target point corresponding to each ship
Is different, the next target point is
The same unmanned ship generates a sub-formation in which the sub-target points are updated at the earliest
The unmanned ship serves as a child leader of the child formation, and child target points are updated to be
The unmanned ship is a following ship, and therefore, the unmanned ship formation is automatically separated and divided into a plurality of paths and a plurality of sub-formations, and each sub-formation adjusts the formation of the self-formation according to the step 3, so that the active separation of the unmanned ship formation is realized;
and 5: when the state of any formation is changed, updating the state of the unmanned ship in the formation;
step 6: and the unmanned ship formation forms an unmanned ship sub-leader queue and an unmanned ship follower queue in the next iteration process according to the updated formation state, each unmanned ship has a target point of the unmanned ship, and the position of each unmanned ship in the final formation is updated according to the calculated target point of each ship in the formation in the next iteration, so that the recovery of the formation form is realized.
Preferably, step 1 comprises: the method comprises the following steps:
firstly, acquiring boundary sampling information of a main island in a navigation area, converting boundary longitude and latitude coordinates of the island into projection coordinates of an XOY plane, and marking the boundary of the island on a simplified navigation map according to the relative position of the island:
and acquiring simplified island boundary information of the navigation area, and setting starting point coordinates and end point coordinates of the unmanned ship formation on the navigation map. Selecting the unmanned ship r, and starting the unmanned ship r
End goal of unmanned ship r r Are connected to obtain an angle
Judging whether the current connecting line of the unmanned ship r intersects with any marked island boundary, and calculating angle information formed by the starting point position of the unmanned ship r for the first time and all island boundaries
In the formula (1), the reaction mixture is,
representing the angle of the k-th connection of the unmanned ship r to the terminal point,
angle information indicating that the unmanned ship r is located at the kth position to be connected to the vertex of the island i in the navigation view,
an aggregate value representing intersections of the k-th directional endpoint connection line of the unmanned ship r with the islands, the magnitude of the aggregate value representing the number of intersections of the k-th directional endpoint connection line of the unmanned ship r with the islands in the sailing view;
calculating the formula (1) to obtain whether a connecting line between the position of the current unmanned ship r and the terminal point crosses the inside of an island i in a navigation map;
if it is not
If the current position of the unmanned ship r is more than 0, an island closest to the current position of the unmanned ship r is found, which indicates that the unmanned ship firstly encounters an island i on a forward route to a terminal point. According to the angle between the island i and the unmanned ship r, the island i and the unmanned ship r are in a same plane
Finding an angle tangent to the island clockwise or counterclockwise
And
one of the angles is selected as the angle of the unmanned ship r connected to the terminal point for the k +1 th time
And determining the starting point of the path connected from the kth time to the destination of the unmanned ship r according to the peak information of the island
If it is not
Equal to 0, indicating that the unmanned ship has self
The path connected to the end point is a collision-free path;
changing the current position of the unmanned ship to
Will be provided with
And calculated
Continuing the calculation of equation (1); and according to
Recording the coordinate and the angle of the next position point of the unmanned ship r;
when the temperature is higher than the set temperature
Equal to 0, indicates that the unmanned ship r is currently self
To the end point coarse r The connected paths are collision-free paths. Recording the path information of the unmanned ship r and storing the path information as the path of the unmanned ship r;
and after the path of the unmanned ship r is obtained, generating the path of the next unmanned ship until all unmanned ships finish generating the path.
Preferably, in step 3,
according to the step 2, a formation sub-leader queue and a following ship queue after the iteration is completed are obtained, and a formation form needs to be redesigned for formation under each sub-leader;
step 3-1) inputting the number m of the leader ship to the sub-leaders of the unmanned ship in the sequence of the small to large numbers, and the position P of the leader ship in the current iteration m (j) Number fol of following ship clusters to which child leader ship m belongs m (ii) a Setting a maximum of n (fol) in a queue m ) Unmanned ship of number, calculate fol m And n (fol) m ) Mod (fol), the remainder of m ) Determining a set formation shape of the formation;
step 3-2) according to the position of the unmanned ship m and the number fol of the following ship clusters m And fol m And n (fol) m ) Mod (fol) m ) Calculating the position that each following ship in the following ship cluster should follow by using a formula set (3),
in formula group (3)
Represents the calculated following coordinates, n (fol), of the ith following vessel of the child leader unmanned vessel m m ) Indicates the number of unmanned ships in a set row, mod indicates the remainder of division, and]denotes rounding after division,/ x ,l y Indicating the amount of positional offset following the vessel,
corresponding the following position coordinates to target points in the following iteration of the following ship one by one;
and 3-3) recalculating the following positions of all following ships in the following ship cluster subordinate to the sub-leader unmanned ship in the steps 3-1) and 3-2) in a traversing manner according to the serial numbers of the unmanned ships in the sub-leader queue.
Preferably, step 5 comprises;
and 5-1) recording the child target point of each unmanned ship, the self state of each unmanned ship, the current position of each unmanned ship, the queue of the child leader and the queue of the following ship in the iteration cycle process.
Step 5-2) updating the state among the sub-leaders in the unmanned ship formation
In the iteration period, judging and updating the queue of the sub-leader, firstly judging the regression total formation state identification parameter value of the sub-leader m, if the regression total formation state identification parameter value is a logic positive value 1, taking the unmanned ship m of the sub-leader as a following ship of the leader L, and updating the state of the unmanned ship m into the following ship;
for the leader m of the unmanned ship, the current sub-landmark position of the leader m is positioned
Current alphabet point location with other sub-leaders
And (6) carrying out comparison.
If sub-landmark position of sub-leader m
Current child target point with child leader r
If the sub-leaders are consistent, the last sub-target point of the sub-leader m is judged
The last sub-landmark point with the sub-leader r
Whether they are consistent. If both conditions are met, the unmanned ship r and the unmanned ship m are proved to belong to the same path segment in the iteration, and the Euclidean distances between the positions of the unmanned ship r and the unmanned ship m in the iteration and the corresponding sub-target points are respectively calculated:
in the formula (2), d (r) represents the Euclidean distance between the position of the unmanned ship r in the current iteration process and the sub-target points of the unmanned ship r in the current iteration process, P r (x, j) denotes the coordinates of the unmanned ship r on the x-axis at iteration number j, P r (y, j) represents the coordinates of the unmanned ship r on the y-axis at the iteration number j;
selecting the serial number of the unmanned ship with smaller sequence number in d (r) and d (m) to keep the state of the sub-leader, wherein the part with larger distance becomes the following ship with smaller distance;
if one of the unmanned ship r and the unmanned ship m is a set leader L of formation, the Euclidean distance d between the two ships and the child target points of the two ships does not need to be calculated, the leader L keeps the state of the child leader, and the unmanned ship r consistent with the child target points of the L becomes a following ship of the L;
traversing all unmanned ships in the sub leader queue, recording the number of the unmanned ship which becomes a following ship, and updating the sub leader queue and the following ship queue;
step 5-3) State update of formation when child leader changes child target Point
And when the child leader unmanned ship r is judged, the unmanned ship r is judged to be the sub-target point of the iteration at the time
From a previous iteration
When the two following ship clusters are inconsistent, the following ship cluster serving as the unmanned ship r can advance to the next target point only when reaching the sub-target points of the following ship clusters, and in the iteration, a following ship closest to the sub-target points of the cluster is selected from the following ship clusters of the unmanned ship r and serves as a leader of the remaining following ship cluster to take the formation to advance continuously towards the sub-target points of the following ship clusters;
recording the numbers of all following ships of the following ship cluster and a sub-leader ship selected from the following ship cluster, updating the states of the ships, and updating a sub-leader queue and a following ship queue;
step 5-4) carrying out state change on the following ship cluster to which the sub-leader belongs after the state change
If the slave leader identity is switched to the slave ship in the formation to which the unmanned ship r of the slave ship belongs in the step 5-2), the slave ship cluster has no slave leader to take the formation, a new formation needs to be established on the basis of the rest slave ship clusters, and a new slave leader and other slave ships are selected from the slave ship clusters.
Calculating the Euclidean distance between the position of each following ship in the current iteration and the sub-target points of the following ship in the current iteration process by the formula (2), selecting the unmanned ship with the minimum distance as a new sub-leader of the following ship cluster, and adding other unmanned ships in the following ship cluster as the following ships of the new sub-leader to form a formation;
recording the serial numbers of all unmanned ships in the following ship cluster, updating the states of all ships in the following ship cluster, and updating the leader queue and the following ship queue in the iteration;
step 5-5) updating the state of undefined unmanned ship in formation
After the steps of 5-2), 5-3) and 5-4), the states of a part of unmanned ships in the formation are updated, and the unmanned ships in the rest un-updated states in the formation need to be updated at the stage;
traversing the unmanned ships in the non-updated state, arranging the unmanned ships according to the sequence of sequence numbers from small to large, firstly judging whether the identification parameter value of the regression total formation state of the unmanned ship r is a logic positive value if the state of the unmanned ship r does not belong to the sub-leader and the following ship, if the identification parameter value is a logic positive value 1, directly updating the state of the unmanned ship r as the following ship of the leader L,
matching the current path section of the unmanned ship r with the state of the unmanned ship in the sub-leader queue, if the path section of the unmanned ship r does not belong to the path section of any sub-leader, updating the state of the unmanned ship r to be the sub-leader, updating the sub-leader queue, and judging the next unmanned ship in the non-updated state;
if the path sections of the unmanned ship r and the sub-leader unmanned ship q are consistent, calculating the unmanned ships r and q and the sub target points in the current iteration of the unmanned ships r and q according to the formula (2)
If d (r) is larger than d (q), the unmanned ship r is put into the formation of the sub-leader unmanned ship q, a new following ship queue is followed, and the judgment of the next unmanned ship in the non-updated state is carried out; if d (r) is less than d (q), updating the state of the unmanned ship r to be a sub-leader, removing the unmanned ship q from the queue of the sub-leader, updating the state of the unmanned ship q to be a following ship, and if the unmanned ship q has a following ship cluster, transferring the following ship cluster of the unmanned ship q to a new formation formed by the unmanned ship r;
updating the leader queue of the unmanned ship, updating the following ship queue of the unmanned ship, and judging the next unmanned ship in an updated state;
and after traversing all unmanned ships with the non-updated states, obtaining the sub-leader queue and the following ship queue with the updated states, and updating the formation at the moment.
The invention has the beneficial effects that:
when the unmanned ship formation performs tasks, the unmanned ship formation is not moved in a unit of a whole, but divided into a plurality of paths and a plurality of formations according to different requirements of the tasks, and then after the unmanned ship formation is divided into a plurality of sub-formations, the addition or deletion of unmanned ships of the sub-formations can be realized among the sub-formations through a formation separation and recovery mechanism of the formation, and the formation recovery of the total formation can also be realized. The invention is beneficial to improving the exploration and application of unmanned ship formation in the aspects of multi-path and multi-sub formation, provides a new idea for improving the motion mode of the existing unmanned cluster, and indicates the direction for the application of unmanned ship formation in various tasks on the sea.
Drawings
FIG. 1 is a topographical view of an island of the present invention;
FIG. 2 is a diagram of a plurality of paths and their first point of interest graph generated by unmanned ships in a formation according to the present invention;
FIG. 3a shows mod (fol) according to the present invention m ) When the queue is 0, forming and defining a formation graph;
FIG. 3b shows mod (fol) according to the present invention m ) When 1, forming defines a formation graph;
FIG. 3c shows mod (fol) according to the present invention m ) When the time is 2, forming a formation graph;
FIG. 4 is a diagram illustrating the effect of the separation and recovery mechanism applied in formation of unmanned ships according to the present invention;
FIG. 5 is a flow chart of the status update of the leader of the formation sub-group of unmanned ships according to the present invention.
FIG. 6 is a flow chart of the sub-leader switching sub-landmark formation status update of the present invention.
FIG. 7 is a flow chart of updating the status of the cluster of the following ships to which the status of the sub-leader is updated according to the present invention.
Fig. 8 is a flow chart of the remaining unmanned ship status update of the present invention.
FIG. 9a is a diagram of the formation update queue form when the selection iteration cycle is j-1 according to the present invention;
FIG. 9b is a diagram of the formation update queue form when the selection iteration cycle is j according to the present invention;
FIG. 9c is a diagram of the formation update queue of the present invention when the selection iteration cycle is j + 1.
Detailed Description
The following detailed description of the preferred embodiments of the invention refers to the accompanying drawings.
The invention is further described with reference to the following drawings.
In order to further understand the content, characteristics and effects of the present invention, the coordinate region (122.13 ° E-122.34 ° E, 29.65 ° N-29.88 ° N) of the zhongshan islands in zhejiang province is particularly used as a specific embodiment for implementing the formation recovery and separation mechanism of unmanned ship formation, and the detailed description is as follows with reference to the accompanying drawings:
step 1: establishing a plurality of paths from a specified starting point to a specified terminal point for unmanned ship formation, including;
firstly, acquiring boundary sampling information of a main island in a Zhoushan island region (122.13 degrees E-122.34 degrees E, 29.65 degrees N-29.88 degrees N) of Zhejiang, sampling the boundary of the island to obtain longitude and latitude information, acquiring the relative coordinate position of the boundary information of the island on an XOY plane according to Mercator projection, and carrying out coordinate labeling on the island in a simplified navigation map, wherein the navigation map is shown in FIG. 1;
marking simplified island boundary information of a navigation area, and setting starting point coordinates and end point coordinates of the unmanned ship formation on a navigation map. Selecting an unmanned ship r, and starting the unmanned ship r
End goal of unmanned ship r r Are connected to obtain an angle
Judging whether the current connecting line of the unmanned ship r is intersected with any marked island or not, and calculatingAngle information formed by starting point position of first unmanned ship and all island vertexes
In the formula (1), the reaction mixture is,
representing the angle of the k-th connection of the unmanned ship r to the terminal point,
angle information indicating that the unmanned ship r is located at the k-th time and connected to the vertexes of the islands i in the navigation view,
an aggregate value representing the intersection of the endpoint line of unmanned ship r at the kth time with the islands, the magnitude of which represents the number of intersections of unmanned ship r at the kth time with the endpoints.
Whether the connecting line between the position of the current unmanned ship r and the terminal point crosses the inside of the island i in the navigation map can be obtained by calculating the formula (1).
If it is not
If the current position of the unmanned ship r is more than 0, an island closest to the current position of the unmanned ship r is found, which indicates that the unmanned ship firstly encounters an island i on a forward route to a terminal point. According to the angle between the island i and the unmanned ship r, the island i and the unmanned ship r are arranged in a way that
Finding an angle tangent to the island clockwise or counterclockwise
And
one of the angles is selected as the angle of the unmanned ship r connected to the terminal point for the k +1 th time
And determining the starting point of the path connected from the kth time to the destination of the unmanned ship r according to the peak information of the island
If it is not
Equal to 0, indicating that the unmanned ship has self
The path connecting to the end point is a collision-free path.
Changing the current position of the unmanned ship to
Will be provided with
And calculated
The calculation of the formula (1) is continued. And according to
And (3) recording the coordinates and the angle of the next position point of the unmanned ship r.
When in use
Equal to 0, indicates that the unmanned ship r is currently self
To the end point coarse r The connected paths are collision-free paths. Recording the path information of the unmanned ship r and storing as the path of the unmanned ship r。
After the path of the unmanned ship r is obtained, the path of the unmanned ship r +1 is generated. Until all the unmanned ships have own paths to form multiple paths of the unmanned ship formation, each path has a plurality of child target points, as shown in fig. 2, wherein the dots are child target points of the unmanned ships, and the star-shaped pattern is the end point of the unmanned ship formation.
Step 2: formation form of unmanned ship formation starting stage
The unmanned ship formation starts to advance according to a path designed by each ship; in the beginning stage, unmanned ship L is used as a leader of formation, and each unmanned ship is initially provided with sub-target points
And
in agreement, unmanned ship r acts as the following ship for L, with unmanned ships L and r forming a sub-formation to travel. After the operation is finished, the state of each unmanned ship is updated to be the leader and the following ships, and the unmanned ships form a general formation
Proceed as in fig. 2.
And step 3: step 3-1) inputting the number m of the leader ship to the sub-leaders of the unmanned ship in the sequence of the small to large numbers, and the position P of the leader ship in the current iteration m (j) The number of follower ship clusters fol to which the child leader ship m belongs m (ii) a Setting a maximum of n (fol) in a queue m ) Calculate fol for 3 unmanned ships m And n (fol) m ) Mod (fol) m ) Determining a set formation shape of the formation;
step 3-2) according to the position of the unmanned ship m and the number fol of the following ship clusters m And fol m And n (fol) m ) Mod (fol) m ) Calculating the position that each following ship in the following ship cluster should follow by using a formula set (3),
in formula group (3)
Represents the calculated following coordinate, n (fol), of the ith following vessel of the sub-leader unmanned vessel m m ) Indicates the number of unmanned ships in a set row, mod indicates the remainder of division, and]denotes rounding after division,/ x ,l y Indicating the amount of positional offset following the vessel,
corresponding the following position coordinates to target points in the following iteration of the following ship one by one;
step 3-3) recalculating the step 3-1) according to the sequence numbers of the unmanned ships in the sub-leader queue, 3-2) calculating the following positions of all following ships in the following ship cluster subordinate to the sub-leader unmanned ship in a traversing manner, and forming the queue of the sub-leader m according to n (fol) m ) There are 3 possible queuing cases, as shown in fig. 3 a-3 b;
and 4, step 4: performing active separation of the formation of the sub unmanned ships;
the unmanned ship arrives at the respective corresponding target point
Then, according to the next target point corresponding to each ship
Is different, the next target point is
The same unmanned ship builds a sub-formation in which the sub-target points are updated at the earliest
The unmanned ship serves as a child leader of the child formation, and child target points are updated to be
Is unmannedThe ship is a following ship, the unmanned ship formation is automatically separated and divided into a plurality of paths and a plurality of sub-formations, and each sub-formation adjusts the formation of the self-formation according to the step 3 to realize the active separation of the unmanned ship formation, such as the time from t1 to t2 in fig. 4;
and 5: taking j-1, j, j +1 as an example to update the ship state of the unmanned ship formation;
and 5-1) recording the child target point of each unmanned ship, the self state of each unmanned ship, the current position of each unmanned ship, the queue of the child leader and the queue of the following ship in the iteration cycle process.
Step 5-2) judging the state update among the sub-leaders in the unmanned ship formation, inputting the queue of the sub-leaders in the previous iteration j-1 in the current iteration period as shown in a flowchart of fig. 5, judging and updating, firstly judging the regression main formation state identification parameter value of the sub-leader unmanned ship 4, if the regression main formation state identification parameter value is a logic positive value 1, taking the sub-leader unmanned ship 4 as a following ship of a leader L, and updating the state of the unmanned ship 4 into the following ship;
for the leader 4 of the unmanned ship, the current sub-target point position is set
Current sub-landmark location with other sub-leaders
And judging whether the two are consistent.
If the sub-landmark position of the sub-leader 4
Current child target point with child leader n
If they are consistent, the last sub-target point of the sub-leader 4 is further judged
And collarThe last sub-target point of leader n
Whether they are consistent. If the two conditions are met, the unmanned ship 4 and the unmanned ship n are proved to belong to the same path segment in the iteration j, and the Euclidean distances between the positions of the unmanned ship 4 and the unmanned ship n and the corresponding sub-target points in the iteration j are respectively calculated:
in the formula (2), d (r) represents the Euclidean distance between the position of the unmanned ship r in the current iteration process and the sub-target point thereof in the current iteration process, P r (x, j) denotes the coordinates of the unmanned ship r on the x-axis at iteration number j, P r (y, j) represents the coordinates of the unmanned ship r on the y-axis at the iteration number j;
selecting the smaller unmanned ship in d (4) and d (n) to continuously keep the state of the sub-leader, and updating the state of the party with larger distance to be a following ship to become the following ship of the party with smaller distance;
if one of the unmanned ship n and the unmanned ship 4 is a set leader L for formation, the Euclidean distance d between the two ships and the child target points of the two ships does not need to be calculated, the leader L keeps the state of the child leader, and the unmanned ship 4 consistent with the child target points of the L becomes a following ship of the L;
the unmanned ships 5, 6 and 7 in fig. 9 are judged in step 5-2, the states are recorded and updated to the unmanned ship numbers of the following ships, and the sub-leader queues and the following ship queues are updated;
step 5-3) status update of formation when child leader changes child target point, as shown in flow chart 6,
when the child leader unmanned ship 7 is judged, the unmanned ship 7 is judged to be at the child target point of the iteration
And in the last iteration
If the sub-target points are inconsistent, as shown from j to j +1 in fig. 9, the possible sub-target points of the following ship clusters serving as the unmanned ship 7 are still consistent with the previous iteration, and still need to reach the sub-target points of the current iteration of the unmanned ship to advance to the next target point, and in the current iteration, a following ship which is closest to the sub-target point corresponding to the unmanned ship in the cluster is selected from the following ship clusters (unmanned ships 8 and 9) of the unmanned ship 7 and serves as a sub-leader of the remaining following ship clusters to take the remaining following ship clusters to continue to advance towards the sub-target points of the remaining following ship clusters; recording the numbers of all following ships of the following ship cluster and the sub-leader ships selected from the following ship cluster, updating the state of the unmanned ships, and updating the sub-leader queue and the following ship queue;
step 5-4) the follower ship cluster to which the sub-leader changes state is changed, as shown in the flow chart 7,
if the unmanned ship 5 in the step 5-2) is switched from the identity of the sub-leader to the cluster fol with the following ship in the formation to which the following ship belongs 5 And if the following ship cluster lacks sub-leaders to take the formation, a new formation needs to be established on the basis of the rest following ship clusters, and a new sub-leader and other following ships are selected from the following ship clusters.
Calculating the distance d between the position of each following ship in the remaining unmanned ship cluster in the current iteration and the sub-target points of the following ships in the current iteration process by using the formula (2), selecting the unmanned ship s with the minimum distance as a new sub-leader of the remaining following ship cluster, and adding other unmanned ships in the following ship cluster as the following ships of the new sub-leader to form a team;
recording the serial numbers of all unmanned ships in the remaining following ship cluster, updating the states of all unmanned ships in the following ship cluster, and updating the leader queue and the following ship queue in the iteration;
step 5-5) updating the state of undefined unmanned ship in formation, as shown in the flow chart 8,
after the steps of 5-2), 5-3) and 5-4), the states of a part of unmanned ships in the formation are updated, and the unmanned ships in the rest un-updated states in the formation need to be judged at the stage;
searching unmanned ships in an un-updated state, arranging according to the sequence of sequence numbers from small to large, firstly judging whether the identification parameter value of the regression total formation state of the unmanned ship 6 is a logical positive value, if the identification parameter value is a logical positive value 1, directly using the unmanned ship 6 as a following ship of a leader L to update the state,
otherwise, judging whether the path section where the current iteration of the unmanned ship 6 is located is consistent with the path sections where all unmanned ships in the sub-leader queue are located, if the path section where the unmanned ship 6 is located does not belong to the path section where any sub-leader is located, updating the sub-leader queue, and judging the unmanned ship in the next non-updated state, such as the process from j to j +1 in fig. 9 a-9 c;
if the path sections of the unmanned ship 8 and the sub-leader unmanned ship 4 are consistent, calculating the unmanned ships 8 and 4 and iterating the unmanned ships 8 and 4 and the sub target points in j +1 according to the formula (2)
Judging the sizes of d (4) and d (8), if d (8) is larger than d (4), then arranging the unmanned ship 8 into the formation of the unmanned ship 4 of the sub leader, updating the queue of the following ship, and judging the unmanned ship in the next non-updated state;
updating the leader queue of the unmanned ship, updating the following ship queue of the unmanned ship, and judging the unmanned ship in the next non-updated state;
after the state of the unmanned ship L-9 is updated, a sub-leader queue and a following ship queue after the state is updated are obtained, and j +1 iteration is shown in FIG. 9 c;
step 6: calculating the formation shapes of the sub-formations in the next iteration process according to the updated formation states of the unmanned ship formation obtained in the step 5 and the step 3, as shown in fig. 9 a-9 b;
the position of each unmanned ship at the end of the formation is updated by taking four different times t1, t2, t3 and t4 in the figure 4 as an example, so that the recovery of the formation form of the formation is realized.
The invention realizes the technical mechanism suitable for separating and recovering the formation of the unmanned ship formation, and describes the reestablishment of the formation of the sub-formation aiming at the recombination decision of the unmanned ship. The invention is easy to understand, has strong performability and is convenient to be adopted in formation navigation of unmanned ships to realize better effect.
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 (4)
1. A separation and recovery method for formation of unmanned ship formation is characterized by comprising the following steps:
step 1: establishing a plurality of paths from a specified starting point to a terminal point for unmanned ship formation;
step 2: the unmanned ship formation starts to advance according to a path designed by each ship; in the beginning stage, unmanned ship L is used as a leader of formation, and each unmanned ship is initially provided with sub-target points
And
after the operation is finished, the state of each unmanned ship is updated to be a leader ship and a following ship, and the unmanned ship advances according to an iteration cycle;
and step 3: establishing a corresponding formation form according to the number of unmanned ships in each unmanned ship formation;
and 4, step 4: the unmanned ship arrives at the respective corresponding target points
Then, according to the next target point corresponding to each ship
Is different, the next target point is
The same unmanned ship generates a sub-formation in which the sub-target points are updated at the earliest
The unmanned ship serves as a child leader of the child formation, and child target points are updated to be
The unmanned ship is a following ship, and therefore, the unmanned ship formation is automatically separated and divided into a plurality of paths and a plurality of sub-formations, and each sub-formation adjusts the formation of the self-formation according to the step 3, so that the active separation of the unmanned ship formation is realized;
and 5: when the state of any formation is changed, updating the state of the unmanned ship in the formation;
and 6: and the unmanned ship formation forms an unmanned ship sub-leader queue and an unmanned ship follower queue in the next iteration process according to the updated formation state, each unmanned ship has a target point of the unmanned ship, and the position of each unmanned ship in the final formation is updated according to the calculated target point of each ship in the formation in the next iteration, so that the recovery of the formation form is realized.
2. The unmanned ship formation queue form separating and recovering method according to claim 1, wherein the step 1 comprises: the method comprises the following steps:
firstly, acquiring boundary sampling information of a main island in a navigation area, converting boundary longitude and latitude coordinates of the island into projection coordinates of an XOY plane, and marking the boundary of the island on a simplified navigation map according to the relative position of the island:
obtain the navigation areaAnd setting the coordinates of a starting point and an ending point of the unmanned ship formation on the navigation map according to the simplified island boundary information of the domain. Selecting an unmanned ship r, and starting the unmanned ship r
End goal of unmanned ship r r Are connected to obtain an angle
Judging whether the current connecting line of the unmanned ship r intersects with any marked island boundary, and calculating angle information formed by the starting point position of the unmanned ship r for the first time and all island boundaries
In the formula (1), the reaction mixture is,
representing the angle of the k-th connection of the unmanned ship r to the terminal point,
angle information indicating that the unmanned ship r is located at the kth position to be connected to the vertex of the island i in the navigation view,
an aggregate value representing intersections of the k-th directional endpoint connection line of the unmanned ship r with the islands, the magnitude of the aggregate value representing the number of intersections of the k-th directional endpoint connection line of the unmanned ship r with the islands in the sailing view;
calculating the formula (1) to obtain whether a connecting line between the position of the current unmanned ship r and the terminal point crosses the inside of an island i in a navigation map;
if it is not
If the current position of the unmanned ship r is more than 0, finding out an island closest to the current position of the unmanned ship r, and indicating that the unmanned ship firstly touches an island i on a forward destination route; according to the angle between the island i and the unmanned ship r, the island i and the unmanned ship r are in a same plane
Finding an angle tangent to the island clockwise or counterclockwise
And
one of the angles is selected as the angle of the unmanned ship r connected to the terminal point for the k +1 th time
And determining the starting point of the path connected to the destination at the kth time of the unmanned ship r according to the peak information of the island
If it is not
Equal to 0, indicating that the unmanned ship has self
The path connected to the end point is a collision-free path;
changing the current position of the unmanned ship to
Will be provided with
And calculated
Continuing the calculation of equation (1); and according to
Recording the coordinate and the angle of the next position point of the unmanned ship r;
when in use
Equal to 0, indicates that the unmanned ship r is currently self
To the end point coarse r The connected paths are collision-free paths. Recording the path information of the unmanned ship r and storing the path information as the path of the unmanned ship r;
and after the path of the unmanned ship r is obtained, generating the path of the next unmanned ship until all unmanned ships finish generating the path.
3. The unmanned ship formation queue form separation and recovery method according to claim 1, wherein in step 3,
according to the step 2, a formation sub-leader queue and a following ship queue after the iteration is completed are obtained, and a formation form needs to be redesigned for formation under each sub-leader;
step 3-1) inputting the number m of the leader ship to the sub-leaders of the unmanned ship in the sequence of the small to large numbers, and the position P of the leader ship in the current iteration m (j) Number fol of following ship clusters to which child leader ship m belongs m (ii) a Setting a maximum of n (fol) in a queue m ) Unmanned ship of number, calculate fol m And n (fol) m ) Mod (fol) m ) Determining a set formation shape of the formation;
step 3-2) according to the position of the unmanned ship m and the number fol of the following ship clusters m And fol m And n (fol) m ) Mod (fol) m ) Calculating, using the set of equations (3), that each of the following boats in the following boat cluster should followIn the position of (a) in the first,
in formula group (3)
Represents the calculated following coordinates, n (fol), of the ith following vessel of the child leader unmanned vessel m m ) Indicates the number of unmanned ships in a set row, mod indicates the remainder of division, [ 2 ]]Denotes rounding after division,/ x ,l y Indicating the amount of positional offset following the vessel,
corresponding the following position coordinates to target points in the following iteration of the following ship one by one;
step 3-3) recalculating the following positions of all following ships in the following ship cluster subordinate to the sub-leader unmanned ship in the step 3-1),3-2) through calculation according to the serial numbers of the unmanned ships in the sub-leader queue;
4. the unmanned ship formation queue form separation and recovery method according to claim 1, wherein: step 5, comprising;
and 5-1) recording the child target point of each unmanned ship, the self state of each unmanned ship, the current position of each unmanned ship, the queue of the child leader and the queue of the following ship in the iteration cycle process.
Step 5-2) updating the state among the sub-leaders in the unmanned ship formation
In the iteration period, judging and updating the queue of the sub-leader, judging the identification parameter value of the regression total formation state of the sub-leader m, if the identification parameter value of the regression total formation state is a logic positive value 1, taking the unmanned ship m of the sub-leader as a following ship of the leader L, and updating the state of the unmanned ship m into the following ship;
for the leader m of the unmanned ship, the current sub-landmark position of the leader m is positioned
Current alphabet point location with other sub-leaders
And (6) carrying out comparison.
If the sub leader m's sub landmark position
Current child target point with child leader r
If the sub-leaders are consistent, the last sub-target point of the sub-leader m is judged
The last sub-landmark point with the sub-leader r
Whether they are consistent. If both conditions are met, the unmanned ship r and the unmanned ship m are proved to belong to the same path segment in the iteration, and the Euclidean distances between the positions of the unmanned ship r and the unmanned ship m in the iteration and the corresponding sub-target points are respectively calculated:
in the formula (2), d (r) represents the Euclidean distance between the position of the unmanned ship r in the current iteration process and the sub-target points of the unmanned ship r in the current iteration process, P r (x, j) denotes the coordinates of the unmanned ship r on the x-axis at iteration number j, P r (y, j) represents the coordinates of the unmanned ship r on the y-axis at the iteration number j;
selecting the serial number of the unmanned ship with smaller sequence number in d (r) and d (m) to keep the state of the sub-leader, wherein the part with larger distance becomes the following ship with smaller distance;
if one of the unmanned ship r and the unmanned ship m is a set leader L of formation, the Euclidean distance d between the two ships and the child target points of the two ships does not need to be calculated, the leader L keeps the state of the child leader, and the unmanned ship r consistent with the child target points of the L becomes a following ship of the L;
traversing all unmanned ships in the sub leader queue, recording the number of the unmanned ship which becomes a following ship, and updating the sub leader queue and the following ship queue;
step 5-3) State update of formation when child leader changes child target Point
When the child leader unmanned ship r is judged, the unmanned ship r is judged to be at the child target point of the iteration
From a previous iteration
When the two following ship clusters are inconsistent, the following ship cluster serving as the unmanned ship r can advance to the next target point only when reaching the sub-target points of the following ship clusters, and in the iteration, a following ship closest to the sub-target points of the cluster is selected from the following ship clusters of the unmanned ship r and serves as a leader of the remaining following ship cluster to take the formation to advance continuously towards the sub-target points of the following ship clusters;
recording the numbers of all following ships of the following ship cluster and a sub-leader ship selected from the following ship cluster, updating the states of the ships, and updating a sub-leader queue and a following ship queue;
step 5-4) carrying out state change on the following ship cluster to which the sub-leader belongs after the state change
If the identity of the sub-leader is switched to the slave ship in the step 5-2), the slave ship r belongs to a formation which has a slave ship cluster, the slave ship cluster has no sub-leader to take the formation, a new formation needs to be established on the basis of the rest of the slave ship clusters, and a new sub-leader and other slave ships are selected from the slave ship clusters;
calculating the Euclidean distance between the position of each following ship in the current iteration and the sub-target points of the following ship in the current iteration process by the formula (2), selecting the unmanned ship with the minimum distance as a new sub-leader of the following ship cluster, and adding other unmanned ships in the following ship cluster as the following ships of the new sub-leader to form a formation;
recording the serial numbers of all unmanned ships in the following ship cluster, updating the states of all ships in the following ship cluster, and updating the leader queue and the following ship queue in the iteration;
step 5-5) updating the state of undefined unmanned ship in formation
Through the steps of 5-2), 5-3) and 5-4), the states of a part of unmanned ships in the formation are updated, and the unmanned ships in the rest non-updated states in the formation need to be updated at the stage;
traversing the unmanned ships in the non-updated state, arranging the unmanned ships according to the sequence of sequence numbers from small to large, firstly judging whether the identification parameter value of the regression total formation state of the unmanned ship r is a logic positive value if the state of the unmanned ship r does not belong to the sub-leader and the following ship, if the identification parameter value is a logic positive value 1, directly updating the state of the unmanned ship r as the following ship of the leader L,
matching the current path section of the unmanned ship r with the state of the unmanned ship in the sub-leader queue, if the path section of the unmanned ship r does not belong to the path section of any sub-leader, updating the state of the unmanned ship r to be the sub-leader, updating the sub-leader queue, and judging the next unmanned ship in the non-updated state;
if the path sections of the unmanned ship r and the sub-leader unmanned ship q are consistent, calculating the unmanned ships r and q and the sub target points in the current iteration of the unmanned ships r and q according to the formula (2)
The Euclidean distances d (r) and d (q) of (a), the sizes of d (r) and d (q) are judged, if d (r) is larger than d (q), the unmanned ship r is put into the formation of the unmanned ship q of the sub-leader, the formation of a new following ship is followed, and the next following ship is carried outJudging the unmanned ship in the non-updated state; if d (r) is less than d (q), updating the state of the unmanned ship r to be a sub-leader, removing the unmanned ship q from the queue of the sub-leader, updating the state of the unmanned ship q to be a following ship, and if the unmanned ship q has a following ship cluster, transferring the following ship cluster of the unmanned ship q to a new formation formed by the unmanned ship r;
updating the leader queue of the unmanned ship, updating the following ship queue of the unmanned ship, and judging the next unmanned ship in an updated state;
and after traversing all unmanned ships with the non-updated states, obtaining the sub-leader queue and the following ship queue with the updated states, and updating the formation at the moment.
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