The USV system mainly contains sensor system, control system, propulsion system, energy system, communication system and payload system. Among them, the control system mainly contains autonomous control system and motion control system. Our invention is mainly used in autonomous navigation system which is a part of autonomous control. The invention belongs to the technical field of USV control, and particularly relates to cooperative autonomous navigation systems and methods for multiple unmanned surface vehicles considering communication. The invention uses information such as position, velocity, heading from a communication module, static and dynamic obstacle position and other USVs position, velocity, heading and other information within a certain range detected by the radar to assist in the presence or absence of communication. The invention enables multiple USVs to avoid all static and dynamic obstacles during navigation from the starting point to the end point, no collision between USVs, no large-angle steering, large-scale acceleration and deceleration, and a navigation path that meets economic requirements. The present invention seeks to find systems and methods adapted to fully utilize the communication module and the radar detection module to assist collision avoidance with the consideration of communication, and formulate a reasonable communication frequency and communication content to reduce the pressure on the system.
COOPERATIVE AUTONOMOUS NAVIGATION SYSTEMS AND METHODS FOR MULTIPLE UNMANNED SURFACE VEHICLES CONSIDERING COMMUNICATION
SYSTEMES ET METHODES DE NAVIGATION AUTONOME COOPERATIVE POUR PLUSIEURS VEHICULES DE SURFACE SANS EQUIPAGE TENANT COMPTE DES COMMUNICATIONS
2020-07-14
Patent
Elektronische Ressource
Englisch
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