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A Distributed Control Method for Swarm Tracking of Unmanned Vessels

A distributed control and unmanned boat technology, which is applied in the field of unmanned boat formation control, can solve the problems of difficulty in rounding up enemy ships, the movement form of enemy ships is not fixed, etc., and achieve high efficiency

Active Publication Date: 2021-02-05
GUANGDONG HUST IND TECH RES INST +2
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the movement form of the enemy ship is not fixed when it is discovered, and the enemy ship will also change accordingly with the encirclement situation, which makes it very difficult for the unmanned boat to encircle the enemy ship.

Method used

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  • A Distributed Control Method for Swarm Tracking of Unmanned Vessels

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Embodiment Construction

[0052] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the implementation modes are not intended to limit the present invention.

[0053] This embodiment provides a method for distributed control of unmanned boat swarm tracking, including:

[0054] Such as figure 1, to perceive and detect the chasing objects, allocate unmanned boats according to the number of chasing objects, and set up a virtual leader. It involves the use of multi-source data processing and fusion technology, environment perception based on image information, and the method of target detection and selection to perform environmental analysis and target recognition in the target area. For scene analysis in complex environments, the pictures are divided into many small pictures for analysis after taking pictures, and the areas with the same col...

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Abstract

The invention relates to the technical field of unmanned surface vessel formation control, in particular to an encircling and tracking method based on a distributed control unmanned surface vessel cluster. The method includes the following steps: encircled objects are sensed and detected, unmanned surface vessels are distributed, and a virtual leader is set; the signs and overall structures of encircled boats are identified, and kinematics models of the encircled boats are built; the unmanned surface vessels work cooperatively, and form a cluster to track the encircled objects; and the movingcoordinate systems of the virtual leader and the encircled objects are identified in real time, and when the moving coordinate systems overlap, the unmanned surface vessels move around and encircle the encircled objects. The invention provides an encircling and tracking method based on a distributed control unmanned surface vessel cluster. By matching the kinematics models of the encircled objectsthrough a database, the encircling of the encircled objects is not limited to the form of unmanned surface vessel formation. Based on an artificial potential field, an encircled object can be trackedand expelled efficiently. The method has the advantages of being safe, quick, efficient, and the like.

Description

technical field [0001] The invention relates to the technical field of unmanned boat formation control, and specifically discloses a distributed control method for surrounding and tracking unmanned boat swarms. Background technique [0002] The unmanned boat is a surface boat with full autonomous perception and operation capabilities. It has the characteristics of small size, high speed, strong endurance, strong maneuverability and quick response. Unmanned boats can perform tasks such as water quality monitoring and cruise tracking in wide rivers and seas. At the same time, it can also realize special tasks such as intelligence investigation and armed strike in future wars. The technology of unmanned boats has attracted the attention of various countries, and it is of great significance to carry out research on cooperative operations of unmanned boats. [0003] A group of unmanned boats working together can increase the detection range and improve operational efficiency. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 苏厚胜任超王晓玲余明晖耿涛
Owner GUANGDONG HUST IND TECH RES INST
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