Research On Autonomous Formation Control Of Unmanned Surface Vehicles

Nowadays,with the development of science and technology,research in many fields tends to be automated.The research is not only limited land space,but also study the automation equipment in the sky and on the ocean.Unmanned Surface Vehicle(USV)technology has become a hot spot for research and development.The research trend has expanded from a single USV to USVs technology.The development momentum is rapid.Compared to a single USV control,the formation of USVs have the advantages of higher efficiency,better fault-tolerant and stronger adaptability.This paper studies the formation control of USVs.The main research contents are presented as follows:Firstly,the mathematical model of the waterjet propulsion USV movement is established,and the operation state of the USV is simulated.We establish the mathematical model of USV from kinematics model and dynamics model.A model of the marine environment is established.The provides propulsion is built to analyze the influence of thrust magnitude on the motion state of USV.Through simulation experiments,the effectiveness of USV's mathematical model is verified.Secondly,a formation control method is proposed to study the consistency of USV.It is analyzed that the leader-follower formation control method has low fault tolerance and the behavior-based formation control method is not suitable for complex formation situations.The basic behaviors of the leader USV and the follower USV are designed,so that USVs can complete the tasks of forming formation,formation retention and obstacle avoidance.The simulation verifies that USVs can perform formation control of linear motion and circular motion in obstacle-free environment.Thirdly,the improved particle swarm optimization algorithm is used to further optimize the basic behavior weight parameters of the USVs.The premature phenomenon that the standard particle swarm optimization algorithm is easy to fall into the local optimal solution is analyzed.Combined with the differential evolution algorithm to change the mechanism of the next generation in the particle swarm.The problem of slow convergence is solved,and the accuracy of convergence is also improved.Through simulation comparison,it is proved that the improved particle swarm optimization algorithm performs better,and the optimized behavioral weight parameters are used to simulate the formation control of the USVs.The results show that the optimization can better complete the formation task,avoid obstacles,maintain the formation and maintain the goal consistency.Fourth,aiming at the USVs can maintain consistency in complex ocean environment and complete the formation control.An improved artificial potential field method is proposed to realize collision avoidance decision.It analyzes the problem of the target unreachability and the shortage of the local minimum value in the traditional artificial potential field method.The rotating magnetic field is added to the gravitational potential field,and a new function is added to the repulsive potential field.The leader and follower USVs use the improved artificial potential field method to avoid static obstacles and dynamic obstacle.All in all,this paper focuses on the new method of formation control for USVs to complete the formation task in a consistent state.A method based on behavioral method and leader-follower formation control is proposed.Based on this,an improved particle swarm optimization algorithm is used to optimize the basic behavior weight parameters of USVs.At the same time,the improved artificial potential field method is introduced to realize the formation control of USVs in static obstacle environment and dynamic obstacle environment.