CN-122018550-A - Water surface unmanned ship cluster collaborative trapping method based on minimum trapping structure

CN122018550ACN 122018550 ACN122018550 ACN 122018550ACN-122018550-A

Abstract

The invention relates to the technical field of cooperative control and decision-making of a marine unmanned system, in particular to a water surface unmanned ship cluster cooperative capturing method based on a minimum capturing structure, which comprises the following steps of obtaining state information of a target ship and the water surface unmanned ship cluster; the method comprises the steps of establishing a target motion constraint relation, determining a cooperative trapping success condition of a water surface unmanned ship cluster, calculating the minimum number of water surface unmanned ships which complete the trapping task, determining trapping points corresponding to all the water surface unmanned ships to form a trapping structure meeting the cooperative trapping success condition, calculating the navigation direction of all the water surface unmanned ships, updating state information if the water surface unmanned ships do not reach the corresponding trapping points, re-determining the trapping points and adjusting the navigation direction until all the water surface unmanned ships reach the corresponding trapping points. The invention can theoretically ensure that the trapping structure forms effective restriction on the target movement direction, has high trapping success rate, only needs three unmanned boats to complete the trapping task, has high resource utilization rate and low cooperative control complexity.

Inventors

ZHENG KAI
GAO QIQIANG
LIANG XIAO
JIANG YI
Guo Fengbei
CHEN LIN

Assignees

大连海事大学

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (7)

1. The water surface unmanned ship cluster collaborative trapping method based on the minimum trapping structure is characterized by comprising the following steps of: acquiring state information of a target ship and a water surface unmanned ship cluster; establishing a target motion constraint relation based on the state information; Determining a successful cooperative capturing condition of the unmanned surface vehicle cluster on the basis of the motion constraint relation; based on the successful trapping condition, calculating the minimum number of unmanned boats on the water surface required for completing the trapping task; determining corresponding trapping points of unmanned boats on each water surface to form a trapping structure meeting the successful condition of cooperative trapping; And calculating the navigation direction of each water surface unmanned ship based on the current position of each water surface unmanned ship and the corresponding trapping point, if the water surface unmanned ship does not reach the corresponding trapping point, updating the state information, re-determining the trapping point and adjusting the navigation direction until all the water surface unmanned ships reach the corresponding trapping point.
2. The method for collaborative trapping of a water surface unmanned ship cluster based on a minimum trapping structure according to claim 1, wherein state information of a target ship and the water surface unmanned ship cluster is obtained, wherein the state information comprises the position of the target ship and the position of each water surface unmanned ship participating in the trapping task.
3. The water surface unmanned ship cluster collaborative trapping method based on the minimum trapping structure according to claim 1, wherein a target motion constraint relation is established, and the motion constraint relation is expressed as the following formula: Wherein, the As the direction angle of motion of the target vessel, Pointing to the target ship Azimuth of the unmanned surface vessel.
4. The method for cooperatively capturing the unmanned surface vessels based on the minimum capturing structure according to claim 1, wherein the capturing success condition is that the target vessel approaches at least one unmanned surface vessel when moving in any direction, and the formula of the capturing success condition is as follows: Wherein, the As the direction angle of motion of the target vessel, Pointing to the target ship Azimuth of the unmanned surface vessel.
5. The method for cooperatively capturing the unmanned surface vessels on the basis of the minimum capturing structure according to claim 1, wherein the minimum number of unmanned surface vessels required for completing the capturing task is calculated based on the capturing success condition, and the number of unmanned surface vessels is calculated The conditions met are: Namely: Wherein, the Pointing to the target ship The number of the minimum unmanned boats on the water surface required for the task is 3.
6. The method for cooperatively capturing the unmanned water surface vessels based on the minimum capturing structure according to claim 1 is characterized in that a virtual structure method is adopted to determine capturing structures meeting the successful condition of cooperative capturing, and a task allocation algorithm is adopted to determine capturing points corresponding to the unmanned water surface vessels.
7. The water surface unmanned aerial vehicle cluster collaborative trapping method based on the minimum trapping structure according to claim 1, wherein the navigation direction of each water surface unmanned aerial vehicle is calculated based on the current position of each water surface unmanned aerial vehicle and the corresponding trapping point, and the navigation direction is calculated based on the current position of each water surface unmanned aerial vehicle The formula of (2) is: Wherein, the Is the first At the current position of the unmanned surface vessel, Is the first And (3) a trapping point position of the unmanned surface vehicle.

Description

Water surface unmanned ship cluster collaborative trapping method based on minimum trapping structure Technical Field The invention relates to the technical field of cooperative control and decision-making of a marine unmanned system, in particular to a water surface unmanned ship cluster cooperative trapping method based on a minimum trapping structure. Background With the continuous increase of ocean development activities and the development of the technology of offshore intelligent equipment, the unmanned surface vehicle has the advantages of strong maneuverability, low cost, high autonomy and the like, and is widely applied to the fields of offshore patrol, ocean monitoring, target tracking, collaborative trapping and the like. When the unmanned surface vessels execute the trapping task, as the offshore targets usually have strong maneuverability, a single unmanned surface vessel is often difficult to effectively limit the movement direction of the targets, so that a plurality of unmanned surface vessels are usually required to form a cluster, and the targets are trapped in a cooperative control mode. In the process of the cooperative capturing of the unmanned surface vehicle clusters, the unmanned surface vehicle usually needs to form a certain space structure around the target, so that the feasible movement direction of the target ship is limited, the movement space of the target ship is continuously compressed, and the effective capturing of the target is finally realized. However, in the prior art, the construction of the trapping structure generally depends on empirical design or simple geometric rules, lacks theoretical analysis on the rationality of the trapping structure, and does not carry out systematic study on the minimum number of unmanned boats required for completing the trapping task, so that the unmanned boats on excessive water surfaces are often configured in practical application, thereby causing system resource waste. Therefore, a method for realizing cooperative trapping with the minimum number of unmanned boats while ensuring the effectiveness of the trapping structure in theory is urgently needed, so as to improve the trapping success rate and reduce the system resource consumption and the control complexity. Disclosure of Invention In order to solve the problem of resource waste caused by the lack of theoretical basis of a trapping structure and unreasonable number configuration of unmanned water surface vessels in the prior art, the invention provides a cooperative trapping method for unmanned water surface vessel clusters based on a minimum trapping structure, which specifically comprises the following steps: acquiring state information of a target ship and a water surface unmanned ship cluster; establishing a target motion constraint relation based on the state information; Determining a successful cooperative capturing condition of the unmanned surface vehicle cluster on the basis of the motion constraint relation; based on the successful trapping condition, calculating the minimum number of unmanned boats on the water surface required for completing the trapping task; determining corresponding trapping points of unmanned boats on each water surface to form a trapping structure meeting the successful condition of cooperative trapping; And calculating the navigation direction of each water surface unmanned ship based on the current position of each water surface unmanned ship and the corresponding trapping point, if the water surface unmanned ship does not reach the corresponding trapping point, updating the state information, re-determining the trapping point and adjusting the navigation direction until all the water surface unmanned ships reach the corresponding trapping point. Further, state information of the target ship and the water surface unmanned ship cluster is obtained, wherein the state information comprises the position of the target ship and the position of each water surface unmanned ship participating in the trapping task. Further, a target motion constraint relation is established, and the formula of the motion constraint relation is as follows: Wherein, the As the direction angle of motion of the target vessel,Pointing to the target shipAzimuth of the unmanned surface vessel. Further, the successful trapping condition, that is, the target ship approaches at least one unmanned surface vessel when moving in any direction, is expressed as the following formula: Wherein, the As the direction angle of motion of the target vessel,Pointing to the target shipAzimuth of the unmanned surface vessel. Further, based on the successful trapping condition, calculating the minimum number of unmanned water surface vessels required for completing the trapping task, wherein the number of unmanned water surface vessels is calculatedThe conditions met are: Namely: Wherein, the Pointing to the target shipThe number of the minimum unmanned boats on the water surface required f