Design And Application Research Of Multiple Unmanned Surface Vehicle Formation Control System

In recent years,Unmanned Surface Vehicle(USV)as offshore operation platforms have received widespread attention,and their unique maneuverability has been widely applied,especially in some harsh ocean environments to replace human operations.Currently,ocean navigation systems are developing towards intelligence,networking,and clustering.USV can achieve cluster operations through coordination,and they are one of the main forms of future marine operations.Based on the above background,this thesis focuses on the study of USV formation and its related control algorithms.The main research contents are as follows:1.The USV formation control system is designed,including USV body selection,hardware construction,software programming,and multi-USV communication protocol design.To solve the problem of complex control tasks and large data volume in USV formation control,assign control tasks to upper and lower computer controllers.The upper controller is carried by the leader,which receives the real-time status of each USV,sends corresponding control commands to each USV,and the lower controller receives the corresponding control commands and tracks in real-time.In addition,to solve the problem of low positioning accuracy of traditional GPS modules,UWB positioning technology is combined to achieve precise positioning of USV.2.In the research of formation control for USV,a dynamic inverse control algorithm with adaptive control law is designed to control the relative motion between USV and eliminate the uncertainty caused by water flow disturbance.This algorithm can maintain the formation even under water flow disturbance.An improved active disturbance rejection controller is also designed in the inner loop controller to achieve stable tracking of the desired yaw angle and speed in the presence of random disturbances.The practicality and superiority of the algorithm are verified through simulations and experiments on the lake.3.In the research on obstacle avoidance of USV formation,to address the problem that the application of artificial potential field method to the collision avoidance of USV formation may result in the inability to maintain formation if the follower is always affected by the gravitational field,an improved artificial potential field method has been proposed,which uses different potential field functions for the leader and the follower respectively.This allows the formation to regain its original formation after avoiding obstacles.Furthermore,constraints on the size of heading changes have been designed based on the actual turning performance of USV to improve the smoothness of obstacle avoidance trajectory.Finally,the practicality and superiority of the algorithm have been verified through simulation and experiments on the lake.