Open AccessDistributed cooperative formation of multiple unmanned ships based on KF
Author(s) -
Wang Liu,
Xiafu Lv
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1754/1/012097
Subject(s) - trajectory , position (finance) , kalman filter , computer science , tracking (education) , marine engineering , mode (computer interface) , engineering , artificial intelligence , psychology , pedagogy , physics , finance , astronomy , economics , operating system
To study the cooperative formation of unmanned ships, and for the influence of noise signals in multiple sensors of multiple unmanned ships, a formation mode based on distributed Kalman filtering is proposed. The position information of the main ship is determined first, and the auxiliary ship sets the desired position of the auxiliary ship as the target of the auxiliary ship according to the position information of the main ship, and finally keeps the formation to move toward the target. The target tracking of single unmanned ship and multiple unmanned ship systems is simulated. The research results show that not only the estimated trajectory of the single unmanned ship is greatly optimized, but the trajectory of each unmanned ship in the multiple unmanned ship system is also very good. It fits the expected trajectory very well and meets the expected requirements.