Research On Coorperative Navigation And Control Of USVs Formation

In recent twenty years, mini-type USV with the advantage of tiny and fast has drawn worldwide attention. It has a wide development potential both in the military and the civilian use. Meanwhile, it has a great significance on our arms industry.Synergy formation technology is the core concepts of the research on USV. Based on the Twelve-Five planning research background,this topic has systemic researched and elaborated the issue of the low-accuracy mini-type USV locating accuracy enhancing and the formation pattern’s controlling problem based on Synergy network. This paper includes the following contents:Firstly, it has elaborated the background and the significance both in USV and synergy formation fields. This paper has summarized domestic and overseas research status of USV and Synergy formation, analyzed the problem based on existing technology, and ensured the researching details combine with projecting background.Secondly, this paper introduced the basic theory of USV, including common formation,synergy positioning method, formation controlling method and formation control algorithm.And these introductions of basic knowledge would contribute to the following evolution and verification.Thirdly, through analyzing the structure and movement characteristics of USV, this paper built the six degrees of freedom mathematic model of dynamics and kinematics under the coordinate system. And it simplified the model according to a series of reasonable assumption.On this basis, it worked out the three degrees of freedom USV mathematic model in the circumstance of still water and made the foundation of following research.Fourthly,direct at mini-USV with low-accuracy navigation equipment,this paper used relative positioning method in order to enhance positional accuracy, which is very important for controlling the shape of whole formation. Comparing several positioning algorithm and analyzing the lack of existing algorithm, this paper selected UKF as the positioning algorithm,and verified the availability by simulated analysis.Finally,this paper built a Leader-Follower formation controlling model according to the research on the control of USV design method, and it consistent with the positioning algorithm of the model. Analyzing the model, the paper designed the controller algorithm with the Lyapunov arithmetic. It made the follower-ship kept the expected relative position and relative angle with the conductor-ship by mean of the function of controller algorithm.And algorithm has been proved that it has good control effect to the follower-ship by simulation. For more than two boats formation, the paper described the formation by graph theory, and set positional relation and controlling relation among US Vs in formation. Then the simulation has verified the effectiveness of the controller.