Design And Implementation Of Multi-USV Formation Control System

Aiming at the cooperative water quality monitoring technology of multi-USV formation,there are few researches on formation system,difficulty in formation control realization,and in practice,the formation is unstable due to low GPS positioning accuracy.This article adopts the leader-follower method combined with embedded technology to realize the formation control of multi-USV.On this basis,the extended Kalman filter technology(EKF)is used to improve the positioning accuracy and ensure the stability of the formation.It provides a certain theoretical basis and technical support for domestic water quality monitoring of multi-USV.The main contents of this article include:First of all,design of the control algorithm of multi-USV formation.Aiming at the control of the formation of multi-USV,the mathematical model of USV is analyzed,and the multi-USV control model is established by leader-follower.The multi-USV formation controller is designed by using the backstepping method,so that each USV can reach a predetermined speed and heading.At the same time,in order to solve the problem of unstable formation caused by low positioning accuracy in practical applications,a position estimation algorithm based on EKF technology under the same model is proposed.Finally,the simulation verifies the effectiveness of the formation control algorithm.Secondly,design of the multi-USV formation system.The hull structure of the USV is designed by using Solid Works software,and a multi-USV formation carrier is constructed.A collaborative network is established through WIFI.Using Altium Designer circuit design software and Keil programming software,combined with UC/OS-II operating system,a multi-USV formation software and hardware system is designed.Finally,in the Linux environment,the ground station design of the multi-USV formation is completed by using QT software.Finally,system construction and experimental analysis.An experimental prototype of a multi-USV formation control system is built and surface experiment is carried out.The experiment shows that the system can complete the formation task.After the experiment is completed,the experimental data is extracted,and the positioning accuracy and overall formation stability of USV are analyzed respectively to further illustrate the feasibility and stability of the system.