AUV (Autonomous Underwater Vehicle) cluster layered agile cooperative control method for ocean detection scene

• Main Authors: HAN XUAN, WANG HENG, ZHANG LICHUAN, SUN SHOUANG, LIU LU, YU YANG, PAN GUANG, ZHANG XIAOMENG, ZHANG SHUO, CHOI JI WOOK
• Format: Patent
• Language: Chinese; English
• Published: 14.06.2024
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The embodiment of the invention relates to an AUV (Autonomous Underwater Vehicle) cluster layered agile cooperative control method for an ocean detection scene. According to the embodiment of the invention, firstly, for ocean detection scene characteristics and task requirements, the group performance of an AUV cluster is analyzed, and an AUV cluster layered cooperative control architecture is provided; further, for a layered cooperative control architecture, a layered cluster agile cooperative network model is established according to network features such as high dynamic topology and high sudden detection data of offshore area detection, sealing and control; and finally, the AUV cluster hierarchical cooperative control architecture and the hierarchical cluster agile cooperative network model are combined with an information fusion result, a control target and a control demand of the cooperative control architecture are analyzed, and a corresponding formation control method is given. 本公开实施例是关于一种面向海洋探测场景的AUV集