丁明, 王磊, 丁英, 等. 一种无需指定船舶位置的新型船舶大规模自主编队方法[J]. 中国舰船研究, 2024, 19(1): 191–199. doi: 10.19693/j.issn.1673-3185.03373
引用本文: 丁明, 王磊, 丁英, 等. 一种无需指定船舶位置的新型船舶大规模自主编队方法[J]. 中国舰船研究, 2024, 19(1): 191–199. doi: 10.19693/j.issn.1673-3185.03373
shu
DING M, WANG L, DING Y, et al. A novel approach to large-scale autonomous formation of ships without specifying ship positions[J]. Chinese Journal of Ship Research, 2024, 19(1): 191–199 (in Chinese). doi: 10.19693/j.issn.1673-3185.03373
Citation: DING M, WANG L, DING Y, et al. A novel approach to large-scale autonomous formation of ships without specifying ship positions[J]. Chinese Journal of Ship Research, 2024, 19(1): 191–199 (in Chinese). doi: 10.19693/j.issn.1673-3185.03373
shu

一种无需指定船舶位置的新型船舶大规模自主编队方法

A novel approach to large-scale autonomous formation of ships without specifying ship positions

    摘要
  • 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。

     

    Abstract:
    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.

     

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