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船舶在实际海事作业时往往需要多艘船舶相互之间协调作业,并且要求能够根据作业需求执行不同的协调任务.本文综合考虑船舶之间的通信需求和多种作业模式下的协同编队任务,提出了一种有向通信拓扑下的任务驱动船舶协同编队控制方法.该方法通过分别设计编队控制器、协调定位控制器、协调跟踪控制器以及各控制器之间的平滑过渡控制器,使得船舶根据不同的作业需求激活相应的协调控制器,并且能保证各控制器之间的平滑过渡,从而实现任务驱动的船舶协同编队控制.最后通过仿真实验验证了所提协调算法的有效性.
In actual maritime operations, ships often require multiple vessels to coordinate operations with each other, and require that different coordination tasks can be performed according to the operational requirements.This paper presents a comprehensive consideration of the communication requirements between ships and the coordinated formation task under various operating modes A method of task-driven coordinated ship formation control in a directional communication topology is proposed in this paper. By designing formation controller, coordinating positioning controller, coordinating tracking controller and smooth transition controller between controllers, Different job requirements activate corresponding coordinating controllers and ensure smooth transition between controllers so as to realize task-driven cooperative control of ships.Finally, simulation results show the effectiveness of the proposed coordination algorithm.