The invention discloses an unmanned surface vessel formation control method based on a leader follow-up structure. The method is used for multiple fully-driven unmanned surface vessel systems, and a formation control method based on a leader-follower is provided to prevent any follower from colliding and being kept in connection with a leader thereof. The method comprises following steps of establishing a dynamic model of an unmanned surface vessel; setting a position output tracking error constraint condition of a follower; designing a tracking error conversion function; applying the dynamic surface control technology and designing a virtual controller; designing a disturbance observer for compensating external unknown interference like wind wave flows; and constructively designing a tracking formation controller. According to the invention, it is ensured that any follower is always kept away from the leader thereof for a certain safe distance, and is in a communication connection range of the leader thereof; and by use of the dynamic surface control technology, accelerated speed of the leader is prevented from being used and practicability of a design scheme is improved.

Unmanned surface vessel formation control method based on leader follow-up structure

The invention provides a real time perception obstacle evading system for unmanned hydrographical survey ship obstacles The system comprises a ship positioning unit, an environment perception unit, a route planning unit and a control unit, wherein the environment perception unit employs at least two kinds of environment perception sensors to sense information of obstacles in a certain scope, obstacle information detected by all environment perception sensors are subjected to data fusion operation, zones of detection superposition are subjected to object matching and superposing operation, an obstacle map is generated based on real time ship coordinates, an obstacle influence zone in which lines are blocked is planned while a round zone with a certain radius is set as a route and a detected obstacle position is used as the center, and therefore a map for route planning is formed; the route planning unit is used for planning a navigation route on a set ship route based on the map for route planning, and the control unit is used for controlling a ship to navigate according to a planned navigation route Via the obstacle evading system, an unmanned ship is enabled to be capable of autonomous navigation, autonomous perception, autonomous programming, autonomous obstacle avoidance and autonomous returning to the navigation route; a safety factor and work efficiency of unmanned hydrographical survey ship can be improved

Real time perception obstacle evading system and method for unmanned hydrographical survey ship obstacles

The invention belongs to the field of unmanned ships, and discloses a multi-unmanned-ship formation system The multi-unmanned-ship formation system comprises a ship-borne control system and a shore-based monitoring system The shore-based monitoring system comprises a principal computer and a shore-based ZigBee communication module which are connected The ship-borne control system comprises a microcontroller, and a ship-borne ZigBee communication module, a GPS sensor, an attitude sensor and an actuator which are connected with the microcontroller The microcontroller receives data from the GPS sensor to obtain latitude and longitude information, and receives data from the attitude sensor to obtain course angle information The course angle and speed of unmanned ships are adjusted in real time by the actuator Under polling control of the principal computer as a main control node, multiple unmanned ships form an unmanned ship formation Dead-zone-free dragnet search and detection are carried out on a target water area Compared with traditional single ship detection, the operation efficiency is improved, the operation time is reduced, and the operation accuracy is guaranteed

Multi-unmanned-ship formation system

The invention provides a method for avoiding unmanned ship collision based on the improved ant colony algorithm. The method comprises the following steps: Step 1) obtaining the position of an obstacle and the position attitude information of the unmanned ship, and carrying out the filtering and space-time aligning to obtain the precise position attitude of the unmanned ship and the precise position of the obstacle; Step 2) based on the sailing speed and the precise position attitude in the sailing process of the unmanned ship as well as the accurate position evaluation of the obstacle, creating a collision risk model; and screening the pre-planned routes; and Step 3) using the improved ant colony algorithm to plan the track of the unmanned ship. The method of the invention effectively makes the unmanned ship more intelligent and reduces the workload of the operation people. In the invention, an improved ant colony algorithm is used to plan the navigation path of the unmanned ship, which improves the quality of the planed path. With the method, when the unmanned ship executes the rescue and inspection tasks, it can detect the obstacle, and based on the distribution of the obstacle, carries out the avoiding strategy to ensure the safe travels of the unmanned ship.

Method for avoiding unmanned ship collision based on improved ant colony algorithm

The invention relates to an unmanned ship movement control system and method. In the control system, a control module comprises a central controller, a heading controller, a rudder angle controller, a backing controller, a speed controller and an accelerator controller, an information collection module comprises a rudder angle sensor, a speed sensor, a heading sensor, a minigyro, a radar detector and a rudder angel compensator, a power module comprises an engine, a rudder pump device, a water-jet propulsor and a backing pump, and the control system can achieve the functions of trajectory tracking, turning rollover prevention, obstacle avoidance and backing and solves the rudder angle zero drift problem. In the control method, the heading controller is driven to continuously adjust the rudder angle of the rudder pump device through heading angle errors, and operation control of the whole navigation process is achieved; meanwhile, a speed control ring is introduced to assist in long distance target tracking, a rudder angle compensation ring is introduced to overcome rudder angle zero drift in ocean currents, and the minigyro monitors inclination of a hull so as to cooperate with the control module and the power module to achieve safe turn.

Unmanned ship movement control system and method

The invention provides a model ship based autonomous navigation control simulation system and method of an under-actuated unmanned ship The whole system is arranged on a model ship, and the model ship is arranged in a simulated navigation channel; the system comprises an environment sensing sub system, a path programming sub system and a motion control sub system; the environment sensing sub system collects the navigation state of the model ship and simulates environment factor information; according to the navigation state of the model ship and the simulated environment factor information, the path programming sub system carries out navigation programming to obtain the tracking route, the set speed and the set course; and the motion control system combines a course tracking model, a path tracking model, the route deviation, the course deviation and the speed deviation to calculate the rudder angle and propeller rotating speed instruction needed in next navigation of the model ship and control a steering engine and a propeller According to the invention, simulation experiments are carried out on the model ship, an instance is provided for operation and control experiments of large ships, important guarantee is provided for safe navigation of large ships in inland rivers, and the system reduces the difficult and cost of experiments of the large ships

Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship

The invention provides an under-actuated unmanned ship formation structure based on model ships. The structure comprises the multiple model ships that are arranged in a simulated navigation channel, and the simulated navigation channel includes simulated environment factors; one model ship serves as a master ship, and other model ships serve as slavery ships; the master ship is provided with a master ship simulation control system, the slavery ships are provided with a slavery ship simulation control system, the shore base is provided with a positioning information monitoring system, and the master ship simulation control system, the slavery ship simulation control system and the positioning information monitoring system are connected via network; and the positioning information monitoring system comprises a shore-based camera and a computer, the shore-based camera is used to capture marker lamps on the model ships and thus carry out image identification positioning on all the model ships, and the computer is used to identify and process images collected by the shore-based camera and obtain positioning information of the master and slavery ships. According to the invention, the difficulty and cost of large ship formation experiments are reduced, an instance is provided for operation and control of the large ship formation, and important guarantee is provided for tasks of safe ship formation navigation.

Under-actuated unmanned ship formation structure based on model ships

The invention provides a monocular vision-based indoor water surface ship precise positioning system, which comprises a monocular vision unit, a recognition positioning unit connected with a monocular vision system and a ship end marker unit arranged on a ship, wherein the monocular vision unit is used for acquiring and outputting an image when the ship sails on an indoor water surface; the recognition positioning unit is used for image collecting, image processing, target ship recognizing, positioning and sailing information calculating; the ship end marker unit comprises two marker lamps arranged on the head and tail of the ship; the shapes of the two marker lamps are spherical and are different in color and the center of a connection line of the two marker lamps represents the shape center of the target ship. According to the invention, the ship under the indoor environment can be accurately positioned, sailing state of the ship is obtained by applying an algorithm and a result is output in real time.

Wang Guichong

Papers

Model ship based autonomous navigation control simulation system and method of under-actuated unmanned ship

Under-actuated unmanned ship formation structure based on model ships

Monocular vision-based indoor water surface ship precise positioning system and method