CN115686004A - Path dynamic planning method based on unmanned ship distributed formation control - Google Patents
Path dynamic planning method based on unmanned ship distributed formation control Download PDFInfo
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Abstract
The invention discloses a path dynamic planning method based on unmanned ship distributed formation control, which comprises the steps of selecting any one ship as a reference ship in unmanned ship formation; setting the air line data of a reference ship, calculating to obtain the air line data of other ships forming a formation, and respectively storing the air line data to the corresponding unmanned ships; after entering a formation air route, each unmanned ship respectively runs according to locally stored air route data of the unmanned ship and feeds back position information and air route section navigation data of the unmanned ship in real time; the method comprises the steps of calculating the actual arrival time of the current flight section according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current navigation speed of each ship to enable the whole airline to keep formation motion.
Description
Technical Field
The invention relates to a dynamic path planning method based on unmanned ship distributed formation control, and belongs to the technical field of unmanned ship control.
Background
The unmanned ship is a water surface robot which can navigate on the water surface according to a preset task by means of precise satellite positioning and self sensing without remote control. The 'water surface robot' integrates multiple technologies such as ship control, communication, automatic control, remote monitoring and networking systems, and achieves multiple functions such as autonomous navigation, intelligent obstacle avoidance, remote communication, real-time video transmission and networking monitoring. As a novel technical means, unmanned ships have been widely used in the fields of marine surveying and control, marine defense, and the like.
During the running of the unmanned ship, high sea conditions caused by wind, waves and the like are often encountered. Under the high sea condition, the unmanned ship is easy to overturn, stall or fly, so the unmanned ship control method under the high sea condition directly relates to the running safety and the task applicability of the unmanned ship. At present, the unmanned ship control method can guarantee the stable running of the unmanned ship under the low sea condition, but when the unmanned ship meets the high sea condition, the existing unmanned ship control method can not carry out self-adaptive control on the unmanned ship according to the sea condition, and further can not guarantee the stable running of the unmanned ship under the high sea condition, the large-scale unmanned ship formation matrix is large in scale, the relative distance between ships is far, the data interaction between the ships limited by marine communication is not smooth, the real-time guarantee during actual navigation is poor, the steering of the large-scale ship is complex, the turning radius is large, the problems of long time and the like of the acceleration and deceleration control of the large-scale unmanned ship are urgently solved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a dynamic path planning method based on unmanned ship distributed formation control, which ensures the stability of formation of navigation formation under the conditions of poor maritime communication quality, long distance between unmanned ship formations and poor real-time guarantee during actual navigation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a dynamic path planning method based on unmanned ship distributed formation control, which comprises the following steps:
selecting any ship from the unmanned ship formation as a reference ship, and calculating to obtain the relative position relation of other ships in the formation according to the position of the reference ship;
setting a flight line of a reference ship, and generating flight lines of other unmanned ships in the formation according to the relative position relation between the ships and the pre-edited formation;
setting the air line data of a reference ship, calculating to obtain the air line data of other ships forming a formation, and respectively storing the air line data to the corresponding unmanned ships;
after entering a formation air route, each unmanned ship respectively runs according to locally stored air route data of the unmanned ship and feeds back position information and air route section navigation data of the unmanned ship in real time;
and calculating the actual arrival time of the current flight section according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current navigation speed of each ship to ensure that the whole flight line keeps formation motion.
Further, a ship at the forefront of the relative position in the unmanned ship formation is selected as a reference ship.
Further, the generating of the routes of other unmanned ships in the formation according to the relative position relationship between the ships and the pre-edited formation comprises:
when the vehicle turns, the formation is ensured to be consistent at the starting position and the ending position by adding the extension route tangent to the arc line segment of the turning starting point and the turning ending point.
Furthermore, the route data is composed of data of a plurality of route segments, and the data of each route segment comprises a starting point, an arrival point, a speed and whether the route segment is turning information.
Furthermore, the local time of each unmanned ship in the formation is unified, and the arrival time is used as a convergence item of the dynamic planning.
Further, for all the routes, each route segment calculates the own route segment speed according to the distance and the speed of the reference route segment, wherein: when the formation member navigates on the broken line, the speed of each navigation section is consistent with that of the reference route, and when the formation member navigates on the broken line, the speed of the formation member in the processes of extending the route and turning is calculated by adding the extending route tangent to the arc line segment of the turning start and the turning end.
Further, the calculation formula during the straight-line navigation is as follows:
for a segment S, it can be divided into n segments S 1 ,S 2 …S n Such that:
S＝S 1 +S 2 +…+S n
let S be a reference course, v 1 ,v 2 …v n For reference of the speed of each flight segment on the flight line, each flight segment A on the flight line of the formation member a 1 ,A 2 …A n Velocity v of a1 ,v a2 …v an Expressed as:
further, the calculation formula of the polyline during navigation is as follows:
keeping the navigational speed of the reference route to continuously navigate for a distance d after turning, wherein d is equal to the length of a perpendicular line of a straight line where the reference ship and the last ship of the formation are located, and when the reference ship starts to turn, other ships n of the formation enter a pre-turning straight line navigation section d n After reaching the turning point, according to d n The same speed along an arc flight n Turning, the end point is the position of the formation after turning is finished, and the speed v of the formation member in the course of prolonging the route and turning an Comprises the following steps:
further, the step of calculating the actual arrival time of the current flight segment according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current navigation speed of each ship to enable the whole flight line to keep formation movement comprises the following steps:
according to the distance A of each flight segment when planning the flight route n And a set speed V n Obtaining the theoretical arrival time of the current flight segment;
dividing the navigation process of the whole route into the navigation processes of n route sections by calculating the arrival time of each route section;
when the unmanned ship is in the voyage section A n During navigation, the remaining distance A 'of the current navigation segment is calculated according to the current position' n ；
According to the current navigational speed V' n Obtaining an actual residual arrival time t' 0 Theoretical residual arrival time t 0 Through V n Obtained by comparison, when t 0 Is more than t' 0 When the speed is faster, the speed is reduced by delta v, when t is 0 Is less than t' 0 And then, the speed is slow, the speed is increased by delta t, the value of the delta t is obtained according to the matching rule which is predetermined, and finally, through adjustment, the following steps are carried out:
the above processes are dynamically carried out in real time in each flight segment passed by the unmanned ship, so that t 'of each flight segment' 0 Converge on t 0 (ii) a And the actual arrival time of each flight section is ensured to be matched with the theoretical arrival time, so that the whole flight path keeps formation movement.
Further, the unmanned ship formation keeps formation movement until reaching a course terminal, and keeps the arriving course to decelerate after reaching the terminal until stopping, wherein the unmanned ship can perform manual adjustment in response to a manual control signal.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a path dynamic planning method based on unmanned ship distributed formation control, which is characterized in that a reference ship is set as a pilot, but the reference ship is used for generating moving air lines of other formation member ships, the positions of other ships are not adjusted according to the moving state of the reference ship when actual formation moves, the speed and course of the ship are corrected according to the arrival time of the ship, and the stability of the formation shape of a sailing formation is ensured under the conditions that the maritime communication quality is poor, the unmanned ship formation distance is long, and the real-time guarantee is poor when actual sailing is carried out.
2. The invention provides a dynamic path planning method based on unmanned ship distributed formation control, which divides a flight line into a plurality of flight segments, dynamically adjusts the flight segments according to arrival time and realizes the dynamic maintenance of formation shapes during unmanned ship formation navigation.
Drawings
FIG. 1 is a diagram illustrating formation editing according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of formation route generation provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a situation where the turning radius provided by the embodiment of the present invention is too small to maintain formation;
FIG. 4 is a schematic diagram of maintaining formation at start and end locations provided by embodiments of the present invention;
fig. 5 is a flow chart of the formation control provided by the embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
The embodiment introduces a dynamic path planning method based on unmanned ship distributed formation control, which comprises the following steps:
selecting any ship in the unmanned ship formation as a reference ship, and calculating to obtain the relative position relation of other ships in the formation according to the position of the reference ship;
setting a flight line of a reference ship, and generating flight lines of other unmanned ships in the formation according to the relative position relation between the ships and the pre-edited formation;
setting the route data of a reference ship, calculating to obtain the route data of other ships in formation, and respectively storing the route data on the corresponding unmanned ships;
after entering a formation air route, each unmanned ship respectively runs according to locally stored air route data of the unmanned ship and feeds back position information and air route section navigation data of the unmanned ship in real time;
and calculating the actual arrival time of the current flight section according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current navigation speed of each ship to ensure that the whole flight line keeps formation motion.
As shown in fig. 5, an application process of the method for dynamically planning a path based on unmanned ship distributed formation control provided by this embodiment specifically involves the following steps:
1. a reference vessel is selected. Selecting any ship in the unmanned ship formation as a reference for formation editing and air line generation, and preferentially selecting a ship at the forefront of the relative position of the ship formation as a reference ship for simple calculation;
2. and planning a reference ship route. Preferentially planning a reference ship route as a basis for generating routes of other unmanned ships in a formation, wherein the route data consists of a plurality of route sections, and each route section comprises information such as a starting point, an arrival point, a speed, whether the route is a turn and the like;
3. and generating other ship routes in the formation. Generating the air lines of other unmanned ships in the formation according to the formation and the reference air line, and also comprising a plurality of air sections, wherein the air sections corresponding to the reference air line are parallel when in straight line, the speeds are the same, and the air sections in straight line and arc air sections are combined when turning;
4. and unifying the local time of each unmanned ship in the formation. Because mutual data interaction is not directly carried out between the ships in the formation, a uniform reference standard is needed for keeping the formation action consistency, the arrival time is used as a convergence item of dynamic planning, and the time must be uniform before sailing to ensure the effectiveness of the algorithm;
5. and (5) maneuvering in formation. After the preparation work is finished, the command center uniformly and simultaneously issues starting instructions to all unmanned ships, all unmanned ships need to be located before the starting point of the formation air line, and due to the influence of ocean currents, the ships cannot keep the position and need to have a section of front-end maneuvering process for entering the formation air line;
6. and (5) formation sailing. After entering a formation air line, each unmanned ship respectively runs according to locally stored air line data and feeds back position information and air section navigation states, and a command center calculates the actual arrival time of the current air section according to the navigation data of each unmanned ship, compares the actual arrival time with the theoretical arrival time and dynamically adjusts the current air speed of each ship;
7. and ending the navigation. The unmanned ship formation sails according to a designated strategy until reaching a ship line terminal, and keeps the arriving course to carry out deceleration sailing until stopping, and meanwhile, a command center can intervene manually to prevent ships from colliding with each other.
The following describes the design of the above-described embodiments in conjunction with a preferred embodiment.
1) Distributed formation control
The maritime communication quality is poor, the distance between the unmanned ship formation units is long, and the real-time guarantee is poor during actual navigation. Through experimental demonstration, in order to ensure the stability of formation of sailing formation, the sailing of the ships in formation sailing can be planned according to a preset route when the data interaction is limited, and then the acceleration and deceleration adjustment is carried out on the self position according to the current formation sailing state. According to the characteristics of the actual application environment, the distributed formation control method provided by the invention refers to a navigator-follower mode and a path-based follower mode. The reference ship is set as a pilot, but the reference ship is used for generating moving air lines of other formation member ships, the positions of the other ships are not adjusted according to the moving state of the reference ship when the actual formation moves, and the speed and the course of the ship are corrected according to the arrival time of the ship.
For the formation of the unmanned ship, any ship is firstly selected as a reference ship, and according to the position of the reference ship, the relative position relation of other ships in the formation can be obtained, and the position of each ship in the formation can be determined in such a way, as shown in fig. 1.
A predetermined route of the reference ship can be set later, and the routes of other members in the formation can be calculated through the route of the reference ship and the previously edited formation. The speed parameters are attached when the air route is set, and any air route shape can be set in a self-defined manner by dividing the general air route into different air routes and setting different speed values for each air route, as shown in fig. 2.
When the air route is set, only the air route of the reference ship needs to be set, and other air routes can be calculated according to the formation. For all the routes, each of the segments calculates the segment speed formula of the segment according to the distance and the speed of the reference route as follows.
For a segment S, it can be divided into n segments S 1 ,S 2 …S n So that:
S＝S 1 +S 2 +…+S n
let S be a reference course, v 1 ,v 2 …v n For reference of the speed of each flight segment on the flight line, each flight segment A on the flight line of the formation member a 1 ,A 2 …A n Velocity v of a1 ,v a2 …v an Can be expressed as:
in the case of straight sailing, when a broken line occurs in a course, the ship cannot make the steering action of the aircraft or the robot, and needs to make an arc motion turn according to the physical performance of the ship and a certain turning radius. Due to the characteristics of marine navigation and the mechanical characteristics of unmanned ships, the general mileage of the air route of a large unmanned ship is far, and the turning radius of the large unmanned ship cannot be ignored relative to the ship distance of the formation, so that the formation of the ship cannot be guaranteed to be unchanged in real time in the actual turning process, and even the navigation of other ships can be influenced, as shown in fig. 3.
Considering the complexity of the handling of large ships and the negligible distance of the turn relative to the sailing distance of large unmanned ships, when considering the turning problem, the algorithm gives up to guarantee the formation maintenance of the whole process, and instead guarantees the formation maintenance of the formation turning to the starting and ending moments by the minimum action of the ship, and guarantees the formation to be consistent at the starting and ending positions by adding the straight extension line tangent to the arc segment of the turning starting and ending, as shown in fig. 4.
In this method, the reference route continues to travel a distance d after turning, with the speed of travel being maintained, d being equal to the length of the perpendicular to the line of the reference ship from the last ship in the formation. When the reference ship starts to turn, other ships n in formation enter a pre-turning straight navigation section d n After reaching the turning point, according to d n With the same speed along the arc flight n And turning, wherein the end point is the position of the formation after turning is finished. At this time, the speed v of the formation member in the course of extending the route and turning an Comprises the following steps:
each air route calculated in the mode can be downloaded to the corresponding unmanned ship respectively, the unmanned ship respectively executes the navigation tasks of the air routes according to the uniform time as a reference, the air route calculation and the azimuth control are uniformly calculated and distributed by the control center, and data communication is not needed among the unmanned ships.
2) Dynamic planning of formation motions of ships
Due to differences of ocean currents, wind directions and wind speeds at sea and acceleration and deceleration performances of the unmanned ship, the unmanned ship cannot completely run according to a preset air route and speed in actual navigation. In the practical formation sailing experiment process, the speed of each unmanned ship in the formation needs to be dynamically adjusted in real time. The invention provides a dynamic adjustment mode for optimizing an objective according to arrival time.
According to the distance A of each flight segment during the course planning n And a set speed V n The theoretical arrival time of the current flight segment can be obtained, and each flight segment is calculatedThe arrival time of the navigation route can be divided into n navigation sections. When the unmanned ship is in the voyage section A n During navigation, the remaining distance A 'of the current navigation segment can be calculated according to the current position' n . According to the current navigational speed V' n The actual remaining arrival time t 'can be obtained' 0 And the theoretical residual arrival time t 0 Can pass through V n Thus obtaining the product. By comparison, when t is 0 Is greater than t' 0 When the speed is higher, the speed needs to be reduced by Deltav, and when t is higher 0 Is less than t' 0 When the speed is slow, the speed needs to be increased by deltav, and the value of deltav is determined by actual experiments. By adjustment, eventually:
this process is dynamically performed in real time for each leg that the unmanned ship passes, such that t 'for each leg' 0 Converge on t 0 . As long as the actual arrival time of each flight section is consistent with the theoretical arrival time, the whole flight path can be ensured to keep the formation movement. In actual navigation, when a control command of the control center is not received, each ship navigates according to the own air route. When a central command is received, the air route is unchanged, and the air speed advances according to the new air speed sent by the center.
The invention has the beneficial effects that:
1) The distributed formation control mode is provided, and the stability of formation of sailing formation is guaranteed under the conditions that the maritime communication quality is poor, the distance between unmanned ship formations is long, and the real-time guarantee during actual sailing is poor.
2) A dynamic planning scheme for the formation motion of ships is provided, wherein a flight line is divided into a plurality of flight sections, and dynamic adjustment is performed according to arrival time, so that the dynamic maintenance of formation in the formation navigation of unmanned ships is realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A path dynamic planning method based on unmanned ship distributed formation control is characterized by comprising the following steps:
selecting any ship from the unmanned ship formation as a reference ship, and calculating to obtain the relative position relation of other ships in the formation according to the position of the reference ship;
setting a flight line of a reference ship, and generating flight lines of other unmanned ships in the formation according to the relative position relation between the ships and the pre-edited formation;
setting the route data of a reference ship, calculating to obtain the route data of other ships in formation, and respectively storing the route data on the corresponding unmanned ships;
after entering a formation air route, each unmanned ship respectively runs according to locally stored air route data of the unmanned ship and feeds back position information and air route section navigation data of the unmanned ship in real time;
and calculating the actual arrival time of the current flight section according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current navigation speed of each ship to ensure that the whole flight line keeps formation motion.
2. The method for dynamically planning the path based on the decentralized formation control of unmanned ships according to claim 1, wherein a ship with the forefront relative position in the unmanned ship formation is selected as a reference ship.
3. The method for dynamically planning the path based on the decentralized formation control of unmanned ships according to claim 1, wherein the generating of the routes of other unmanned ships in the formation according to the relative position relationship between the ships and the pre-edited formation comprises:
when the vehicle turns, the extended route tangent to the arc line segment of the turning start and the turning end is added to ensure that the formation is consistent at the start position and the end position.
4. The method for dynamically planning the path based on the decentralized formation control of unmanned ship according to claim 1, wherein the route data is composed of data of several route segments, and the data of each route segment comprises information of a starting point, an arrival point, a speed, and whether the route is a turn.
5. The method for dynamically planning the path based on the decentralized formation control of unmanned ships according to claim 1, wherein the local time of each unmanned ship in the formation is unified, and the arrival time is used as a convergence item of the dynamic planning.
6. The method for dynamically planning the path based on the decentralized formation control of unmanned ship according to claim 1, wherein for all airlines, each segment thereof calculates its own segment speed according to the distance and speed of the reference airlines, wherein: when the formation member sails in a straight line, the speed of each sailing section is consistent with the speed of the reference sailing line, and when the formation member sails in a broken line, the speed of the formation member in the processes of lengthening the sailing line and turning is calculated by adding the extension sailing line tangent to the arc line segment of the turning start and the turning end.
7. The method for dynamically planning the path based on the decentralized formation control of unmanned ship according to claim 6, wherein the calculation formula of the straight-line navigation is as follows:
for a segment S, it can be divided into n segments S 1 ,S 2 …S n So that:
S＝S 1 +S 2 +…+S n
let S be a reference course, v 1 ,v 2 …v n For reference of the speed of each flight segment on the flight line, each flight segment A on the flight line of the formation member a 1 ,A 2 …A n Velocity v of a1 ,v a2 …v an Expressed as:
8. the method for dynamically planning the path based on the decentralized formation control of unmanned ship according to claim 6, wherein the calculation formula of the broken line in navigation is as follows:
keeping the navigational speed of the reference route to continuously navigate for a distance d after turning, wherein d is equal to the length of a perpendicular line of a straight line where the reference ship and the last ship of the formation are located, and when the reference ship starts to turn, other ships n of the formation enter a pre-turning straight line navigation section d n After reaching the turning point, according to d n The same speed along an arc flight n Turning, wherein the end point is the position of the formation after the turning is finished, and the speed v of the formation member in the process of extending the route and turning an Comprises the following steps:
9. the method for dynamically planning the path based on the decentralized formation control of unmanned ships according to claim 1, wherein the step of calculating the actual arrival time of the current flight according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current speed of each unmanned ship so that the whole flight line keeps formation motion comprises:
according to the distance A of each flight segment during the course planning n And a set speed V n Obtaining the theoretical arrival time of the current flight segment;
dividing the navigation process of the whole route into the navigation processes of n route sections by calculating the arrival time of each route section;
when the unmanned ship is in the voyage section A n During navigation, the remaining distance A 'of the current navigation segment is calculated according to the current position' n ；
According to the current navigational speed V' n Obtaining the actual residual arrival time t' 0 Theoretical residual arrival time t 0 Through V n Obtained by comparison, when t is 0 Is more than t' 0 When the speed is faster, the speed is reduced by delta v, when t is 0 Is less than t' 0 And then, the speed is slow, the speed is increased by delta v, the value of the delta v is obtained by matching according to a predetermined matching rule, and finally, the following steps are carried out:
the above processes are dynamically carried out in real time in each flight segment passed by the unmanned ship, so that t 'of each flight segment' 0 Converge on t 0 (ii) a And the actual arrival time of each flight section is ensured to be consistent with the theoretical arrival time, so that the whole flight path keeps formation movement.
10. The method for dynamically planning the path based on the decentralized formation control of unmanned ships according to claim 1, wherein the formation of unmanned ships keeps formation movement until reaching the destination of the flight line, and keeps the heading of the unmanned ships slowing down after reaching the destination until stopping, during which the unmanned ships can make manual adjustment in response to manual control signals.
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| CN117250961A (en) * | 2023-10-24 | 2023-12-19 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
| CN117250961B (en) * | 2023-10-24 | 2024-05-17 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
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| CN117250961A (en) * | 2023-10-24 | 2023-12-19 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
| CN117250961B (en) * | 2023-10-24 | 2024-05-17 | 东莞东晟装备科技有限公司 | Unmanned moving target ship cooperative formation control method and system |
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