摘要
[目的]针对船舶大规模编队通信量大、编队速度慢、不便于扩充等问题,提出一种新型的虚拟壁面编队方法。[方法]使用局部通信,根据自然规律,设定虚拟作用力驱使船舶向目标位置集合,并通过虚拟壁面调整队形,从而实现船舶编队的目的。[结果]结果表明,所提方法能够按照“就近原则”快速地完成编队,通信量低且不随编队规模而增加。通过对船舶编队的静态、动态、旋转、缩放和避障的仿真验证了这种算法的有效性。[结论]所提虚拟壁面法具有通信量低、编队速度快、扩充简单等优势,在船舶大规模编队中具有明显优势。
[Objective]This paper puts forward the“virtual wall method”as a novel formation approach intended to address such problems as the high communication volume,slow formation speed and inconvenient expansion of large-scale ship formation.[Method]The proposed method uses local communication,sets virtual force according to the rules of nature to drive the ships to the target positions,and adjusts the formation to completion through the virtual wall.[Results]The results show that the ship formations can be completed quickly according to the proximity principle using the proposed algorithm,and the communication volume is low without changing with the formation size.The effectiveness of this algorithm is verified by static,dynamic,rotation,scaling and obstacle avoidance simulations of ship formations.[Conclusion]The virtual wall method features low communication volume,fast formation speed and convenient expansion,giving it significant advantages in the large-scale formation of ships.
作者
丁明
王磊
丁英
王一听
DING Ming;WANG Lei;DING Ying;WANG Yiting(State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China;School of Electrical Engineering,Xinjiang University,Urumqi 830046,China)
出处
《中国舰船研究》
CSCD
北大核心
2024年第1期191-199,共9页
Chinese Journal of Ship Research
基金
国家自然科学基金资助项目(51179103)。
关键词
船舶编队
虚拟壁面法
集群控制
分布式控制
避障
ship formation
virtual wall method
cluster control
distributed control
obstacle avoidance
