| With the increasing complexity of marine survey missions,individual unmanned marine vehicles are increasingly difficult to meet actual mission needs.In the face of complex operational tasks,the ability of a single vehicle is obviously insufficient,and multiple vehicles are required to perform coordinated operations to complete.Multi-unmanned marine vehicle formation control means that multiple vehicles can form a specific formation according to the mission requirements,maintain the formation in the course of moving towards to the target point,and can safely pass through the obstacle area.This article takes the Unmanned Surface Vehicle(USV)in the unmanned marine vehicle as the research object to study the formation,formation maintenance and formation obstacle avoidance of multi-USV.The specific research contents are as follows:Firstly,according to the system structure and motion characteristics of the two-body USV,the USV kinematics model is established,and the USV target tracking algorithm is designed accordingly to achieve the accurate tracking of the desired target by USV.Secondly,the formation and maintenance algorithms of multi-USV are studied.A multi-USV formation control algorithm combining virtual structure and artificial potential field is adopted,the virtual structure is used to organize formation,the artificial potential field is used to avoid formation members,and the virtual navigator is introduced as the tracking target of USV.The effectiveness of formation control algorithm in formation,formation maintenance and switching is verified by numerical simulation.Then,the obstacle avoidance of multi-USV formation is studied.Two obstacle avoidance methods are designed:shape-preserving method and formation change method.The formation change method is divided into two strategies:formation configuration change and formation scaling.The effectiveness of different obstacle avoidance methods is verified by numerical simulationFinally,the hardware platform of multi-USV formation is built,the hardware composition,software setting and communication mode of USV are introduced,and the feasibility of formation,maintenance algorithm and formation transformation algorithm is verified by real ship test. |
