The Research Of Ship Formation And Obstacle Avoidance Under The Dynamic Environment

As the population increasing, and with the rapidly development of science and technology, initially, people explore resources only focusing on the land, and now, a lot of people explore resources from the land to the sea. In order to effectively use of Marine resources, many scholars made a lot of research on maritime technology, such as:submarine pipe laying and underwater robot, the offshore ship motion, etc. Therefore, there are many theoretical achievements, such as ship’s dynamic positioning, underwater robot motion planning, trajectory tracking, etc.In this paper, based on the research scholars, mainly making a thorough research on the ship.This article made a research on ship from three aspects of the ship, first of all, research field and system of the ship’s structure has been made the detailed elaboration; Secondly, according to the needs of real life, the formation method of the ship is introduced in this paper, and at the same time, the formation control method of this paper is put forward; Finally, considering the shipping’s complexity of running environment, the obstacle avoidance control of the ship is studied, and also, the obstacle avoidance control method is put forward in this paper.The research content and the main work as following:1.Study on the optimal trajectory tracking shipAiming at this problem, this paper puts forward the idea of optimal tracking,based on back-stepping, namely, which uses the shortest distance method, that is the point to the expectations of a straight line, to find the optimal trace point. Letting the ship tracking the selected track point to achieve the optimal trajectory tracking.Through the MATLAB simulation and analysis,learning that the proposed method can achieve a good effect on the optimal trajectory tracking in the dynamic environment.2.Research on ship formation problemAiming at ship formation,in this paper,based on Leader-followers of formation control method, by adopting the idea of optimal tracking line fleet formation, namely:the Leader in the optimal tracking ideas for trajectory tracking, and at the same time,with Leader follower control method,making the Leader and followers to keep a certain formation in advance.Considering the complexity of the ship running environment, putting forward the anti-interference int the formation process, namely:designing the auxiliary control signal, which is used to compensate the external environment disturbance of the system.Under the environmental disturbances.through the MATLAB simulation and analysis,learning that the proposed method can achieve a good effect on formation in the dynamic environment.3. Study on the avoidance of the shipBecause of the complexity of the operating environment, in order to enable the ship to arrive at the destination smoothly.Aiming at the ship obstacle problem.based on the artificial potential field.and adding the fuzzy rules to avoid obstacle in the improved artificial potential field.and the added fuzzy rules solve the local minimum problem of the artificial potential field.Through the MATLAB simulation and analysis,learning that the proposed method can achieve a good effect on obstacle avoidance in the dynamic environment.