Research On Target-Guard-Oriented Coordinated Control Method Of Multiple Unmanned Surface Vehicle

Unmanned Surface Vehicle(USV)is mainly used to perform dangerous or unsuitable missions for manned ships.The sea surface target guard is one of the important tasks faced by USV.Considering the dynamic and complex environment,unpredictable potential dangers and diversified missions,a single unmanned vehicle carrying equipment system is limited by its own limited load,so it is difficult to achieve more complex mission objectives.In contrast,a collaborative system consisting of multiple unmanned surface vehicles(MUSVs)provides greater robustness,communication,mobility,and flexibility,as well as greater operational efficiency and range.However,the large number of multi-unmanned vehicle members,the different maneuverability and the complexity of maritime tasks make the multi-unmanned vehicle face unique difficulties in the research of cooperative control.In this paper,research is carried out on the dynamics modeling and identification problem of MUSVs system,coordinated control problem of MUSVs formation,task assignment problem of MUSVs for maritime target guard and field test.Firstly,the research on USV dynamics modeling and identification method is carried out to conduct dynamics analysis and maneuverability identification simulation,which will be used as the theoretical research basis and simulation test platform for the control algorithm and task assignment algorithm of MUSVs formation in the following chapters.Because the formation size of MUSVs system is usually large and the member structure is different,it is not possible to carry out hydrodynamic numerical simulation test for each vehicle to obtain the maneuverability model parameters.Therefore,an integral nonlinear rapid identification method is proposed.Different from combined with a variety of test results to identify the nonlinear control equations of motion of the traditional method,the method only combining Z-type test data,can quickly and accurately analyze the maneuvering model of the USV with nonlinear kinematic performance.Under the limited experimental data,this method can provide an accurate and effective simulation test verification basis for the control method test platform of multi-unmanned vehicle formation.Secondly,an USV dynamics model is established as a verification support for the theoretical simulation test platform of the algorithm,so as to carry out related research on the control method of multi-unmanned vehicle formation and collaboration.When the traditional null space based behavior fusion method(NSB)is applied to MUSVs formation control,it does not take into account the phenomenon of "saturation planning" caused by the maneuverability of USV,the problem of "path deviation" caused by the influence of collision avoidance between MUSVs on the formation motion control,and the disturbance of the MUSVs formation caused by the complex Marine environment.An adaptive null space based behavior fusion method considering the complex Marine environment is proposed,which makes the velocity limit calculated in each working condition adaptive within the maneuvering range of the MUSVs,and effectively improves the operational ability of MUSVs formation under the influence of Marine environment.Then,the task assignment research of MUSVs for target guard task is carried out.Based on category factor,distance factor and trend factor,the evaluation system of maritime target guard threat degree is established.An interest-based tabu search task assignment method is proposed for multi-unmanned vehicle patrol and warning tasks at sea.For the interception mission at sea,the formation optimization scheme was discussed,and the redefined Dubin method and the spatial decoupling search method were proposed,so as to realize the selection of the optimal assembly point for the formation reconstruction of MUSVs,which was conducive to the acceleration of the interception mission.Aiming at the task of capturing dynamic targets on the sea,a strategy of capturing dynamic targets based on the speed-rudder effect decoupling method is proposed.Finally,the MUSVs test platform and the indoor positioning system for the auxiliary pool test are built.The effectiveness of the proposed MUSVs formation control method was verified by the pool test of MUSVs,and the reliability of the algorithm for the cooperative control and planning of the two-USV and three-USV MUSVs formation was verified by the field test respectively.