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Group cooperative control method for underwater unmanned vehicle system

A technology of unmanned aerial vehicle and cooperative control, applied in three-dimensional position/channel control and other directions, can solve problems such as positioning error, and achieve the effect of precise information transmission and cooperation

Inactive Publication Date: 2021-12-21
XIAN UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0005] The purpose of the present invention is to provide a group cooperative control method for underwater unmanned vehicle systems, which solves the problem of positioning errors accumulated over time when AUVs are navigating and positioning in the prior art

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  • Group cooperative control method for underwater unmanned vehicle system
  • Group cooperative control method for underwater unmanned vehicle system
  • Group cooperative control method for underwater unmanned vehicle system

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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] The group cooperative control method of the underwater unmanned vehicle system of the present invention is specifically implemented according to the following steps:

[0029] Step 1, initialize a number of autonomous underwater unmanned vehicles, and number them as 1, 2, 3, ..., N, set the No. 1 UAV and No. 2 UAV to start at the same time and No. The manned aircraft receives the signal first, and the standby time of the remaining unmanned aircrafts is (N-2) X minutes in turn;

[0030] Step 2, such as figure 1 and 2 As shown, after the No. 1 UAV starts to receive the signal actively, it uses its own front camera to complete the identification of the No. 2 UAV and locate the No. 2 UAV after receiving the signal. Each UAV Color codes are pasted on the aircraft, and the recognition of No. 2 UAV by No. 1 UAV is to identify the color code...

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Abstract

The invention discloses a group cooperative control method for an underwater unmanned vehicle system. The method comprises the steps that color code features are extracted based on an image acquired by a forward camera by using color codes as features for distinguishing obstacles and participating in cooperation with a vehicle; a candidate area is determined according to the position of an effective obstacle, the position of a first unmanned vehicle when a second unmanned vehicle is found and the position of the second unmanned vehicle, the optimal signal transmission point of the vehicle is determined by calculating the H (p) value of a candidate point of the candidate area, and rapid positioning and accurate information transmission and cooperative calculation of the unmanned vehicles are achieved. According to the group cooperative control method for the underwater unmanned vehicle system, the problem that in the prior art, positioning errors are generated along with time accumulation during navigation positioning of the AUV is solved.

Description

technical field [0001] The invention belongs to the technical field of control methods of underwater unmanned aerial vehicles, and relates to a group cooperative control method of underwater unmanned aerial vehicle systems. Background technique [0002] As a new means of ocean development, underwater unmanned vehicles play an obvious role. Its development can be traced back to the 1950s. American researchers stored cameras in sealed equipment and placed them on the seabed. This was the prototype of the cabled underwater unmanned vehicle. By the end of the 1980s, with the rapid development of a number of supporting technologies, it led to the innovation of autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) related technologies. Since AUV equipment itself does not need to be tied, its underwater operation process is more flexible, convenient and efficient, so its development has received great attention. [0003] According to the different contact methods bet...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 柯熙政孙宇
Owner XIAN UNIV OF TECH
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