Preliminary Research On Cooperative Strategy And Its Realization Of Unmanned Surface Vehicle Based On Optimization Method

In recent years, the rights,interests and environmental protection of sea has become an increasingly prominent issue.Unmanned surface vehicle(USV) as the production of Informatization and intellectualization, has gained widespread attention due to its applicaiton in the field of environmental monitoring,scientific research and exploration,underwater mapping,search and rescue, security patrol and even military apps. But the quantity and quality of carrying equipments of single USV is limited, which means single task only,using multiple USVs for cooperating tasks can effectively overcome the mission capability limits of single USV.Multiple USVs well equipped with different modules and devices can sufficiently obtain the information of broad waters and complete the task coordinately and cooperatively,which can enhance the diversity of autonomous systems at sea and improve the overall efficiency of the whole work. Based on the current situation that the domestic research of USV’s collaborative system and cooperative strategy is almost blank,the author has carried out some research work as follows:(1)The paper designs and makes a catamaran with great moudle lines which has the coordinative function,selects the equipments and analysis the design of the propulsion system and control system, selects the type of XP-8741 PAC based on Windows XP system as the control unit and realizes the semi-autonomous voyage planning based on the intelligent control system software which is compiled by C++.(2)The paper probes the path optimization problem of USV’s transforming from start position state(position and heading angle) to end position state(position and heading Angle) based on Genetic Algorithm and considering the real ship turning process of USV voyage,proposes a kind of CLC path planning strategy,establishes the path optimization mathematic model between the two points,analysis several path optimization cases and compiles the simulation platform software which verifies the feasibility of the path optimization mathematic model.(3)The paper discusses and analysis the USVs’ cooperative strategy based on optimization method, divides the cooperative search into two subproblems of task allocation and path planning based on hierarchical decomposition strategy,adopts the hierarchical fuzzy evaluation method for the task allocation solution,solves the path planning problem in two cases of coverage search and non-coverage search,uses the method of searching along the long side of mission area with minimum energy consumption in the first case,and in the second case,transforms the problem into TSP path optimization based on probability map prediction to solve the problem,finally,proposes a kind of cooperative formation control strategy based on path parameter coordination.(4)The paper completes an experiment of cooperative search task scenario based on probability map prediction which is updated by Bayes’ theorem,and displays the operating method and steps of the cooperation system in the process of doing experiment,which verifies the reliability of the cooperation system.