Research On Vessel Formation Control And Obstacle Avoidance Algorithm

So far,science and technology in the world are constantly improving,and the formation of intelligent robot systems has become a popular topic in the field of control.Therefore,in order to improve the efficiency of completing the task,the control of a single vessel can no longer meet the needs of the task,and the formation control of multiple vessels is often required to complete the task.Compared with a single vessel,multi-vessel collaboration has the advantages of fault tolerance and strong adaptability.Taking into account that in actual navigation,it is often necessary to avoid obstacles to islands,reefs,marine garbage and other navigating vessels.Therefore,the research on unmanned vessel formation control and obstacle avoidance control has very important research value.The research content of this article includes the following aspects:First,complete the establishment and conversion of the hull coordinate system and the north-east coordinate system of the unmanned ship.A three-degree-of-freedom mathematical model of the unmanned ship is established.Considering that the unmanned ship will be disturbed by the wind and waves of the outside ocean when it is actually sailing,the external interference is modeled and analyzed.The data of the unmanned ship is selected,and the effectiveness of the established ship model is verified through direct navigation and slewing experiments.Secondly,design the trajectory tracking controller of the unmanned ship on the surface based on the backstepping method,and use the nonlinear disturbance observer to estimate the external environmental interference of the unmanned ship,and give feedback compensation to realize the anti-jamming performance of the unmanned ship trajectory tracking control.Through the trajectory tracking simulation experiment of the unmanned ship,the effectiveness of the trajectory tracking controller and the anti-interference of the disturbance observer are verified.Thirdly,the formation of multi-surface unmanned ships is modeled,and the anti-jamming controller based on the expanded state observer is designed;the thrust saturation of the unmanned ships is also taken into consideration,in order to make the unmanned ships be able to achieve reasonable thrust and Within the torque range,the formation control task is completed,and the anti-saturation controller based on the generalized saturation function is designed.The Lyapunov method is used to analyze the stability of the formation controller based on the extended state observer and the saturation function.Finally,an improved artificial potential field obstacle avoidance algorithm is used,and a rotation function is added to avoid the occurrence of local minimums.The gravitational component of the reference trajectory point to the unmanned ship is added to the repulsion field.Through simulation experiments,it is verified that the unmanned ship formation based on the improved artificial potential field method can successfully avoid static and dynamic obstacles at sea.