Research On Multi-USV Cooperative Obstacle Avoidance Technology Based On Fish Swarm Effect

Ship intellectualization is a development trend in the future,and unmanned surface vehicle(USV)has become a research hotspot at home and abroad.In the face of diverse marine tasks and complex marine environment,compared with single USV,multi-USV system has obvious advantages in marine exploration,fishing,patrol,search and rescue tasks.The multi-USV cooperation technology is one of the core technologies of multi-USV system,and intelligent autonomous obstacle avoidance ability is the key to ensure the safe navigation of multi-USV system.Fish swarm effect is a kind of theory about the formation mechanism of fish swarm self-organization behavior,which has the advantages of distributed and autonomous cooperation of groups.It is of great research significance and engineering value to study cooperative obstacle avoidance technology of multi-USV based on fish swarm effect.With the topic of "Research on Multi-USV Cooperative Obstacle Avoidance Technology Based on Fish Swarm Effect",this paper analyzes the characteristics and requirements of multi-USV cooperative obstacle avoidance,establishes the framework of multi-USV cooperative obstacle avoidance system,studies the method of multi-USV cooperative obstacle avoidance based on fish swarm effect,and designs the software system of multi-USV cooperative obstacle avoidance system,and verifies the feasibility and effectiveness of the method of multi-USV cooperative obstacle avoidance based on fish swarm effect through simulation and real multi-USV experiments.The main contents of this paper are as follows:(1)The framework of multi-USV cooperative obstacle avoidance system is designed.This paper analyzes the environment and requirements of multi-USV cooperative obstacle avoidance system,establishes a three-tier structure framework of multi-USV cooperative obstacle avoidance system,and divides the overall framework into three levels: multi-USV layer,shore-based layer and cloud layer;plans the shore-based platform of multi-USV cooperative obstacle avoidance system,and designs the framework of multi-USV cooperative communication,shore-based host computer and Hadoop platform.(2)A multi-USV cooperative obstacle avoidance method based on fish swarm effect is proposed.Firstly,the formation,tracking and crossing behavior modes of multi-USV cooperative obstacle avoidance are defined,and three mathematical models of multi-USV cooperative obstacle avoidance are established;secondly,the algorithm of multi-USV cooperative obstacle avoidance based on fish swarm effect is formed,and the output of the algorithm is modified according to the dynamic characteristics of USV,and the logical relationship of the general flow of the algorithm and formation,tracking and crossing three behavior subprocesses are determined.(3)The software system of multi-USV cooperative obstacle avoidance system is designed.This paper analyzes the software requirements of the multi-USV cooperative obstacle avoidance system,develops the shore-based host computer communication module,data processing and display module and navigation path planning module;completes Hadoop data acquisition module,the data loading mode selection and data table design of Hadoop data storage module;realizes the multi-USV cooperative obstacle avoidance software system.(4)The simulation experiment and the real multi-USV experiment of multi-USV cooperative obstacle avoidance method based on the fish swarm effect are carried out.The simulation environment of cooperative obstacle avoidance for multi-USV is constructed.The simulation experiments of multiple unmanned surface vehicles cooperative formation,cooperative tracking,and cooperative crossing behaviors based on fish swarm effect are carried out.The feasibility of cooperative obstacle avoidance method for multiple unmanned surface vehicles is theoretically verified.An experimental platform for cooperative navigation of multiple unmanned surface vehicles is built,and the formation process,tracking process and crossing process of cooperative obstacle avoidance are carried out by using three unmanned surface vehicles.Through the process,the experimental target of sailing in the form of formation along the planned path to the terminal point is completed,and the unknown obstacles in the navigation path are successfully avoided,which verifies the feasibility of the multi-USV cooperative obstacle avoidance system based on fish swarm effect.