Research On Monitoring System And Obstacle Avoidance Planning Of Unmanned Surface Vessel Cluster

As an important combat method in the future ocean battlefield,marine unmanned surface vessel cluster has been widely concerned.However,because of the complex battlefield environment and wide distribution of the cluster's elements make it particularly difficult to command and control the cluster.Therefore,the research on the monitoring system is significant and meaningful.The project of this paper is“Ocean unmanned operation cluster supported by sea and sky integrated early warning information”.The main task is to set up a monitoring system that can be used for the surface unmanned craft cluster.The monitoring system can receive and display the location,heading and sensors' data of the unmanned cluster in real time.In addition,it can plan and control the path of the cluster.This paper is divided into three parts.The first part introduces the design idea and structure of the cluster,including the cluster's communication and control system,the hardware structure of unmanned cluster,the hull structure and power plant of the unmanned vessel.The second part is the development of unmanned surface cluster's software,which mainly includes the overall structure of monitoring software and the detailed function of each module.The performance of the whole monitoring system is preliminarily verified by the lake test.The third part proposes an obstacle avoidance planning algorithm for single unmanned vessel in the cluster.A preliminary simulation on the algorithm based on the satellite map of the monitoring system is carried out the results show that under the normal distribution of obstacles the unmanned craft can safely bypass the random set of obstacles.The simulation platform provides the foundation for the subsequent more complex and intelligent algorithm research and verification.