Multi-robot formation traceability control method for sea surface spill oil

Abstract

The invention provides a multi-robot formation traceability control method for the sea surface spill oil. The method comprises steps that 1), an observer-based tracking controller and a consistency-based formation controller are designed, multiple unmanned ships are driven to trace oil spilling points on the condition that the pre-designed formation shape is kept; 2), under the control framework designed in the step 1), the multiple unmanned ships are utilized to carry out cooperation estimation through a distributed optimization method to acquire the arithmetic mean of the gradient and the divergence of the oil spill concentration in the coverage area of the robot formation area; and 3), under the distributed estimator framework of the step 2), a consistent high-pass filter is utilized torealize cooperation estimation of a centroid coordinate of the multi-robot formation shape. The method is advantaged in that properties of the large search scope, strong mobility and strong robustness are realized, under the condition of limited observation data, based on an oil film diffusion and convection model, oil spill point formation search control of the multiple unmanned ships can be realized.

Description

technical field [0001] The invention relates to the field of unmanned ships, in particular to a multi-robot formation traceability control method for sea surface oil spills. Background technique [0002] Unmanned ship technology is a high-tech integrated with computer, cybernetics, structure, information and sensor technology, artificial intelligence, bionics and other disciplines. At present, research on unmanned ships is very active and has been increasingly applied to a wide range of fields, involving marine oil spill monitoring, and unmanned ship technology has attracted more and more attention from academia and industry. Existing offshore oil spill monitoring mostly uses single unmanned ship tracking, and the control-based method is often difficult to obtain accurate model parameters, and there are model errors. Even if multiple unmanned ships are used, it often cannot prevent reasonable formation and effective search for leaks. source of oil. Therefore, the self-trac...

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Problems solved by technology

It is obvious that disorderly multi-unmanned ships are inefficient in searching oil spill points. At the same time, due to the strong uncertainty of the oil spill tracking control model based on unmanned ships

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