多无人艇的航迹分散控制算法

Research on route dispersion control algorithm of multi-unmanned boat

传统多无人艇航迹控制算法有效控制范围较小。对此,设计多无人艇的航迹分散控制算法。对无人艇航迹参数进行坐标定位,建立航行轨迹方程,获取无人艇漂角等参数坐标,利用无人艇初始位置和航向漂角等信息,生成无人艇期望航向角,明确无人艇控制航迹,提出船舶PID控制规律算法和辅助性指标TTAR算法,解决多无人艇期望航向角重合问题,实现多无人艇航迹分散控制。实验数据表明,设计的无人艇轨迹分散控制算法无人艇控制绝对有效控制范围扩大27%,次级控制范围扩大19.5%。具有实际应用优势。

The traditional multi-unmanned boat track control algorithm can only guarantee that the unmanned boat track is locally optimal and the overall control range is narrow. For this purpose, the track dispersion control algorithm of multi-unmanned boat is designed. To coordinate positioning quantitative unmanned craft movement parameters, obtain unmanned craft parameters such as track is linear parameter equation and drift Angle coordinate, using its position and heading information, generate no one expected course Angle, single unmanned craft track control, put forward the ship PID control algorithm and auxiliary index TTAR algorithm, solving the problem of how no one expected course Angle overlap, realize the unmanned craft track is decentralized control. Experimental data show that the control range of unmanned boat is improved by 27% and 19.5%. It has practical advantages.