多无人船协作的协同定位与控制方法研究
Research on Cooperative Positioning and Control Methods for Multi-unmanned Vessel Cooperation
张东1
作者信息
摘要
近年来,无人船在水上作业和科学研究中的应用越来越广泛.与传统有人驾驶船只相比,多无人船协同作业的优势在于可以减少人力成本、提高工作效率和降低潜在风险.在多无人船协作的过程中,协同定位与控制是一个关键问题.该研究针对这一问题进行了深入探讨.针对多无人船的特点,提出了一种基于协同定位的分布式控制方法,并设计了相应的实验验证.实验结果表明,该方法能够实现多无人船的协同定位和控制,具有较好的性能和可行性.
Abstract
In recent years,the application of unmanned ship in water operation and scientific research is more and more exten-sive.Compared with the traditional manned vessels,the advantages of multi-unmanned vessels are the reduction of manpower cost,the improvement of work efficiency and the reduction of potential risks.Cooperative positioning and control is a key problem in the process of multi-unmanned vessel cooperation.This research has carried on the thorough discussion to this question.According to the characteristics of multi-unmanned vessel,a distributed control method based on cooperative positioning is proposed,and the corresponding experimental verification is designed.The experimental results show that this method can realize the cooperative posi-tioning and control of multi-unmanned vessels,and has good performance and feasibility.
关键词
多无人船/协同定位/分布式控制/实验验证Key words
multi-unmanned vessels/cooperative positioning/distributed control/experimental verification引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据