CN115032987A - Multi-unmanned-boat synchronous path tracking system based on collaborative vector field - Google Patents
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Abstract
The invention provides a collaborative vector field-based multi-unmanned ship synchronous path tracking system, which comprises a communication network, N unmanned ships and N individual controllers respectively connected with the N unmanned ships in a control mode, wherein any individual controller comprises a predictor unit, a self-triggering mechanism unit, a vector field unit and a guidance law unit, the self-triggering mechanism unit comprises a trigger switch, and the trigger switch is set to be in a closed state, so that the individual controllers can communicate and monitor. The invention provides a multi-unmanned-boat synchronous path tracking method based on a collaborative vector field, and a path variable coordination design is introduced into a three-dimensional vector field design, so that synchronous formation is realized.
Description
Technical Field
The invention relates to the field of ship and ocean engineering, mainly researches the problem of multi-unmanned-boat synchronous path tracking, and provides a multi-unmanned-boat synchronous path tracking system based on a collaborative vector field.
Background
Unmanned boats have received much attention from researchers in recent years due to their widespread use in military and civilian applications. The motion control scenarios of unmanned boats can be generally divided into three categories: target tracking, trajectory tracking, path tracking. Trajectory tracking requires tracking the time-dependent trajectory at each instant, whereas path tracking aims to track the geometric path instead of the time-dependent path. The geometric task of path tracking is to guide the unmanned vehicle to the desired path, which is usually separate from the dynamic task of maintaining unmanned vehicle speed. Because the path tracking can decouple space and temporary constraints, the method is suitable for various practical applications of the unmanned boat, such as maritime patrol, resource investigation, rescue and search and rescue and the like.
Researchers have increasingly studied the path tracking problem over the past few years. Generally, the path following controller is composed of a guidance law, which aims to generate a reference speed command for the unmanned boat to travel along the path, and a dynamic control law, which aims to follow the reference speed. Therefore, the guidance law plays a crucial role in the path-following control law design. Typical guidance methods include pure tracking guidance, line-of-sight guidance, constant orientation guidance, vector field guidance, and the like. In particular, vector field guidance is the design of a vector field such that the integral curve converges to a desired path and the desired velocity at each point in the vector field will guide the unmanned boat to travel. In recent years, vector field guidance has attracted great attention to the problem of path tracking due to its advantages of high performance, easy implementation, and the like. It is worth pointing out that the existing unmanned ship vector field guidance methods are designed for a single ship and cannot be used in a scene of cooperative path tracking of multiple unmanned ships.
Disclosure of Invention
In view of the defects of the prior art, the invention provides a multi-unmanned-vessel synchronous path tracking system based on a collaborative vector field. The invention introduces path variable coordination design in the three-dimensional vector field design, thereby realizing synchronous formation.
The technical means adopted by the invention are as follows:
a multi-unmanned ship synchronous path tracking system based on a collaborative vector field comprises a communication network, N unmanned ships and N individual controllers which are respectively connected with the N unmanned ships in a control mode, wherein any individual controller comprises an estimator unit, a self-triggering mechanism unit, a vector field unit and a guidance law unit, the self-triggering mechanism unit comprises a trigger switch, and the trigger switch is set to be capable of communicating and monitoring when the trigger switch is in a closed state;
the first input end of the predictor unit is connected with a communication network through a trigger switch and used for acquiring variable signals of adjacent unmanned boats, and the other input end of the predictor unit is connected with the output end of the guidance law unit; the output end of the predictor unit is respectively connected with the input ends of the self-triggering mechanism unit and the vector field unit;
the other input end of the vector field unit is connected with the output end of a comparator, and input signals of the comparator are expected position signals of the unmanned ship and actual position signals of the unmanned ship; the output end of the vector field unit is connected with the input end of the guidance law unit;
the first output end of the guidance law unit is connected with the input end of the self-triggering mechanism unit and used for providing a variable signal of the unmanned ship, and the other output end of the guidance law unit is connected with the control end of the unmanned ship and used for providing a forward speed signal and a course angular velocity signal;
the output end of the self-triggering mechanism unit is connected with the input end of the communication network through a triggering switch of the self-triggering mechanism.
The invention has the following advantages:
1. compared with the existing single unmanned ship path tracking method based on the vector field, the invention provides a multi-unmanned ship synchronous path tracking method based on the cooperative vector field, and the path variable coordination design is introduced into the three-dimensional vector field design, so that synchronous formation is realized.
2. Compared with the existing multi-unmanned-boat collaborative path tracking control law based on continuous communication exchange, the invention provides the collaborative path tracking method based on the self-triggering communication mechanism, which can obviously reduce the communication times among unmanned boats.
3. The self-triggering cooperative vector field method provided by the invention does not need continuous monitoring. Each drone predicts its next trigger time and broadcasts it to its neighbors at the current trigger time, so each drone only needs to listen for and receive upcoming information sent from its neighbors at its trigger time.
Based on the reasons, the invention can be widely popularized in the fields of military, civil use and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a block diagram of a self-triggering cooperative vector field control system according to the present invention.
Fig. 2 is a diagram of the effect of tracking the collaborative path in the embodiment.
FIG. 3 is a diagram of lateral and longitudinal errors using self-triggered collaborative vector fields in an embodiment.
Fig. 4 is a synergy error map using a self-triggering synergy vector field in an embodiment.
FIG. 5 is a graph of the control of pitch velocity and steering angle velocity using a self-triggering cooperative vector field in an embodiment.
FIG. 6 is a diagram of USV1 communication events using a self-triggering collaborative vector field in an embodiment.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention provides a coordinated vector field-based multi-unmanned-vessel synchronous path tracking system, which includes a communication network, N unmanned vessels, and N individual controllers respectively connected to N controls on the unmanned vessels. And the control end of the ith unmanned ship is connected with the output end of a guidance law unit in the individual controller, and the guidance law unit provides forward speed and course angular speed signals for the unmanned ship. And the state output end of the i-th unmanned ship is connected with the input end of the vector field unit in the corresponding individual controller, so that an actual position signal is provided for the vector field unit.
The individual controller of the ith unmanned ship consists of an predictor unit, a self-triggering mechanism unit, a vector field unit and a guidance law unit. In order to conveniently describe the monitoring and communication process, a trigger switch of the self-triggering mechanism is arranged in the control system, and the trigger switch is triggered at the current trigger moment
The trigger switch is in a closed state, and communication and monitoring are carried out at the moment. Firstly, communication information packets of adjacent unmanned boats are acquired from a communication network
The other input end of the predictor unit is connected with the output end of the guidance law unit; and the output end of the predictor unit is respectively connected with the input ends of the self-triggering mechanism unit and the vector field unit. Path variables output by the predictor unit
θ j Connected to the input of the vector field unit and giving the desired position signal x id ,y id And actual position signal x of unmanned vehicle i ,y i ,ψ i The comparator unit of the vector field is connected with the input end of the vector field unit; and the output end of the vector field unit is connected with the input end of the guidance law unit. Finally, the input end of the guidance law unit is connected with the output end of the vector field unit; the guidance law unit is provided with two output ends, one end of the guidance law unit provides a variable signal of the unmanned boat
Connected with the input end of the self-triggering mechanism unit, and the other end of the self-triggering mechanism unit provides a forward speed and course angular speed signal U for the unmanned boat ir ,r ir Is connected with the input end of the unmanned boat. The output end of the self-triggering mechanism unit is connected with the input end of the communication network through a triggering switch of the self-triggering mechanism.
The kinematic equation of the i-th unmanned ship is expressed as
In the formula x i ，y i ，ψ i Representing the position and the heading angle vector of a second unmanned ship in an earth coordinate system; u. of i ，v i ，r i Respectively representing the surging speed, the swaying speed and the yawing angular speed under a hull coordinate system.
The resultant speed of the unmanned ship is set as
β i ＝arctan(v i /u i ) Is the side slip angle psi iw ＝ψ i +β i Is the direction of the total velocity. Rewriting kinematics of a second unmanned boat as
Wherein
The design of the individual controller of the i-th unmanned boat comprises the following steps:
A. design of predictor unit
Communication information packet of input end of predictor unit and adjacent unmanned ship of ith unmanned ship in communication network
Self path variable output by guidance law unit
Are connected with each other wherein
Is the current time of the trigger, and is,
for the next moment of triggering, the path variables
I.e. at the moment of triggering
The following path parameters. The predictor unit is designed as follows:
for the
Wherein
Represents the triggering time of the jth unmanned ship
Followed by the next most recent trigger time. At the moment of triggering
Then, the input signal passes through the predictor unit to obtain the current path variable
θ j The output end of the predictor unit is connected with the input ends of the vector field unit and the self-triggering mechanism unit.
B. Design of self-triggering mechanism unit
Communication information packet of input end of self-triggering mechanism unit and adjacent unmanned ship of ith unmanned ship in communication network
Self-path variables of guidance law unit
Path variable output by predictor unit
θ j Are connected. The cell design is as follows:
wherein
Given alpha 1 >0,α 2 >0,
|e iω The upper bound of | is estimated as:
wherein the upper bound g i1 (t) is expressed as:
upper bound g i2 (t) is expressed as:
the self-triggering mechanism unit estimates the next triggering time of the ith unmanned boat by solving the following equation:
g i1 (t)＝α 1 or g i2 (t)＝α，
(10)
The output end of the self-triggering mechanism unit is connected with the input end of the communication network, and the self-triggering mechanism unit is used for triggering at the moment
To its neighborResidential broadcast
C. Design of vector field unit
C1. A comparator unit: input of comparator unit and given expected position signal x id ,y id Actual position signal x of unmanned ship i ,y i ,ψ i In connection therewith, the comparator unit is designed as follows:
wherein psi iw Is the desired heading. The output of the comparator unit is connected to the input of the vector field unit.
C2. Vector field unit: input terminal of vector field unit and output terminal of predictor unit
θ j Output terminal z of the comparator unit ix ,z iy ,z iψ Are connected. The vector field unit is designed as follows:
wherein the parameterized path curve of the i-th unmanned ship is (x) id (θ i ),y id (θ i ))，θ i Representing a path parameter whose partial derivative is
And
k i1 、k i2 a positive gain;
κ ix ,κ iy ,κ iδ is a positive constant; v. of s Is the reference speed, δ i ＝z ix x’ id (θ i )+z iy y’ id (θ i )，e is Is a distributed cooperative error, psi iw Is the desired heading.
Output of vector field unit
Representing the nth row of the matrix of vector field elements. Output of vector field unit
Connected with the input end of the unit of the guidance law.
D. Design of guidance law unit
The input end of the guidance law unit is connected with the output end of the vector field unit. The guidance law unit is designed as follows:
the guidance law unit has two outputs: an output terminal
The input end of the self-triggering mechanism unit is connected with the input end of the self-triggering mechanism unit; the other output end outputs a forward speed signal U and a course angular speed signal U ir ,r ir Connected to the unmanned surface vehicle input, k i3 Indicating a positive gain.
The following description is made of three types of collaborative vector fields proposed by the present invention through semi-physical simulation and comparative study. The control parameters are as follows:
k i1 ＝1，k i2 ＝1,k i3 ＝0.5,v s ＝1,κ ix ＝2,κ iy ＝2,κ iψ ＝1,κ iδ ＝5,α 1 ＝10,α 2 the sampling period is 0.1s, 5. The initial positions of the three unmanned boats are respectively (x) 1 ,y 1 ,θ 1 )＝(0,5,0)，(x 2 ,y 2 ,θ 2 )＝(5,-10,5)，(x 3 ,y 3 ,θ 3 )＝(22,-5,10)，(x 4 ,y 4 ,θ 4 ) (22,5, 15). The predefined path that the ith unmanned boat is steered is:
wherein the path parameter is l 1 ＝10,l 2 ＝15,l 3 ＝20。
The simulation results are shown in fig. 2 to 6. Fig. 2 shows a synchronized convoy achieved by using the proposed self-triggered cooperative vector field. Fig. 3-4 illustrate the path-following error and the cooperative error, respectively, of the proposed self-triggered cooperative vector field, indicating that the synchronous path-tracking error using the self-triggered cooperative vector field can eventually converge to around 0 and be able to track the upper desired path. FIG. 5 shows the commanded surge speed and steering angle rate using a self-triggering coordinated vector field. Fig. 6 shows the communication event of USV1 in the proposed self-triggered cooperative vector field, which requires only 24 communications in total and no continuous listening within 60 seconds.
The invention provides a multi-unmanned-boat synchronous path tracking system based on a collaborative vector field, which utilizes a three-dimensional vector field and path parameter consistency technology to design a visual and easily-realized collaborative vector field. To reduce the number of communications and avoid continuous snooping, a predictor-based self-triggering mechanism is designed such that communications occur asynchronously at discrete times. Through the design, the synchronous path tracking of the unmanned ships can be well realized, each unmanned ship only broadcasts at the trigger time of the unmanned ship, listens and receives information from neighbors at the trigger time of the unmanned ship, and can exclude Zeno behaviors.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A multi-unmanned ship synchronous path tracking system based on a collaborative vector field comprises a communication network, N unmanned ships and N individual controllers which are respectively connected with the N unmanned ships in a control mode, and is characterized in that any individual controller comprises a predictor unit, a self-triggering mechanism unit, a vector field unit and a guidance law unit, the self-triggering mechanism unit comprises a trigger switch, and the trigger switch is set to be capable of communicating and monitoring when the trigger switch is in a closed state;
the first input end of the predictor unit is connected with the communication network through the trigger switch and used for acquiring variable signals of adjacent unmanned boats, and the other input end of the predictor unit is connected with the output end of the guidance law unit; the output end of the predictor unit is respectively connected with the input ends of the self-triggering mechanism unit and the vector field unit;
the other input end of the vector field unit is connected with the output end of a comparator, and input signals of the comparator are expected position signals of the unmanned ship and actual position signals of the unmanned ship; the output end of the vector field unit is connected with the input end of the guidance law unit;
the first output end of the guidance law unit is connected with the input end of the self-triggering mechanism unit and used for providing a variable signal of the unmanned ship, and the other output end of the guidance law unit is connected with the control end of the unmanned ship and used for providing a forward speed signal and a course angular velocity signal;
the output end of the self-triggering mechanism unit is connected with the input end of the communication network through a triggering switch of the self-triggering mechanism.
2. The coordinated vector field-based multi-unmanned-vessel synchronous path tracking system according to claim 1, wherein the kinematics equation of the ith unmanned vessel is expressed as
Wherein x i ，y i Respectively representing the positions of the i-th unmanned ship in the terrestrial coordinate system, ψ iw ＝ψ i +β i In the direction of the total velocity, beta i ＝arctan(v i /u i ) Is the angle of the side slip,
u i ，v i ，r i respectively represents the surging speed, the swaying speed and the yawing angular speed under a ship body coordinate system,
is the sum speed of the unmanned boat, i 1.
3. The collaborative vector field-based multi-unmanned ship synchronous path tracking system according to claim 1, wherein the predictor unit is designed as follows:
for the
Wherein
Represents the triggering time of the j-th unmanned ship
Then the next latest trigger time, at which
While the input signal passes through the predictor unit to obtain the current path variable
The path variables for the neighboring drones of the ith drones,
and the self-path variables are output by the guidance law unit.
4. The coordinated vector field-based multi-unmanned ship synchronous path tracking system according to claim 1, wherein the self-triggering mechanism unit is designed as follows:
wherein
Given alpha 1 >0,
|e iω The upper bound of | is estimated as:
wherein the upper bound g i1 (t) is expressed as:
upper bound g i2 (t) is expressed as:
the self-triggering mechanism unit estimates the next triggering time of the ith unmanned boat by solving the following equation:
g i1 (t)＝α 1 or g i2 (t)＝α，
5. The coordinated vector field based multi-unmanned ship synchronous path tracking system according to claim 1, wherein the vector field unit is designed as follows:
wherein the parameterized path curve of the i-th unmanned ship is (x) id (θ i ),y id (θ i ))，θ i Representing a path parameter whose partial derivative is
And
k i1 、k i2 a positive gain;
κ ix ,κ iy ,κ iδ is a positive constant; v. of s Is the reference speed, δ i ＝z ix x i ' d (θ i )+z iy y i ' d (θ i )，e is Is a distributed cooperative error, ψ iw Is the desired heading.
6. The coordinated vector field-based multi-unmanned-vessel synchronous path tracking system according to claim 1, wherein the guidance law unit is designed as follows:
wherein the content of the first and second substances,
representing the n-th row, U, of the vector field element matrix ir Is a forward velocity signal, r ir Is a course angular velocity signal, k i3 Indicating a positive gain.
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| CN115494848A (en) * | 2022-09-30 | 2022-12-20 | 大连海事大学 | Unmanned ship path tracking sight distance guidance method and system for avoiding dynamic and static obstacles |
| CN115494848B (en) * | 2022-09-30 | 2024-05-03 | 大连海事大学 | Unmanned ship path tracking and viewing distance guidance method and system for avoiding dynamic and static obstacles |
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