Path dynamic planning method based on unmanned ship distributed formation control

• Main Authors: PAN JIALIANG, SUN YONGFEI, LI JIANQI, WANG ZHEFU, MENG KAI, CONG BIN, LI KE, WU HAO, BU TIANXIANG
• Format: Patent
• Language: Chinese; English
• Published: 03.02.2023
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The invention discloses a path dynamic planning method based on unmanned ship distributed formation control. The method comprises the following steps: selecting any ship in an unmanned ship formation as a reference ship; setting route data of a reference ship, calculating to obtain route data of other ships in the formation, and respectively storing the route data to corresponding unmanned ships; after entering the formation route, each unmanned ship respectively travels according to route data locally stored by the unmanned ship, and feeds back position information of the unmanned ship and route segment navigation data in real time; and calculating the actual arrival time of the current route segment according to the navigation data of each unmanned ship, comparing the actual arrival time with the preset theoretical arrival time, and dynamically adjusting the current navigational speed of each ship so as to enable the whole route to keep formation movement. And the formation stability of the navigation forma