Abstract
In order to improve the accuracy of the formation control of multiple unmanned vessels, reduce the construction and maintenance costs and the impact of the external environment, and improve the robustness of the formation control method. Based on the hierarchical formation control technology of the navigator method, the formation design and behavior control are carried out respectively. After the formation is formed, the artificial potential field method is used to maintain, and the gravitational field and repulsive field of the virtual navigator and other unmanned ships and the maximum communication distance are considered respectively, and an improved virtual navigator formation control algorithm is obtained. Finally, we conducted formation control experiments. The experimental results show that this paper uses the proposed improved virtual navigator algorithm to conduct formation control and obstacle avoidance experiments, and find that the algorithm has good performance. The formation control method has the characteristics of high accuracy, strong generalization ability, fast control speed, and strong environmental adaptability. It meets the needs of actual formation control of multiple unmanned ships, and the formation control method can be packaged into an intelligent control system. It has the characteristics of flexible deployment and application, strong adaptability, and has the application space for formation control in actual combat with multiple unmanned ships.
Supported by organizations of the National Natural Science Foundation of China (61572228 and 61572226),the Key Development Project of Jilin Province (20180201045GX and 20180201067GX),the Guangdong Key-Project for Applied Fundamental Research (2018KZDXM076),and the Guangdong Premier Key-Discipline Enhancement Scheme (2016GDYSZDXK036).
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Zhao, W., Wang, X., Wu, R., Liu, C., Zhou, H. (2022). Research on Control Algorithm of Unmanned Vessel Formation Based on Multi-agent. In: Pan, L., Cui, Z., Cai, J., Li, L. (eds) Bio-Inspired Computing: Theories and Applications. BIC-TA 2021. Communications in Computer and Information Science, vol 1566. Springer, Singapore. https://doi.org/10.1007/978-981-19-1253-5_27
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DOI: https://doi.org/10.1007/978-981-19-1253-5_27
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