| 船舶编队控制综述 |
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| 引用本文： | 柳晨光,贺治卜,初秀民,吴文祥,李松龙,谢朔.船舶编队控制综述[J].交通运输工程学报,2022,22(4):10-27. |
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| 作者姓名： | 柳晨光 贺治卜 初秀民 吴文祥 李松龙 谢朔 |
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| 作者单位： | 1.武汉理工大学 国家水运安全工程技术研究中心，湖北 武汉 4300632.武汉理工大学 智能交通系统研究中心，湖北 武汉 4300633.武汉理工大学 重庆研究院，重庆 4011204.武汉理工大学 交通与物流工程学院，湖北 武汉 4300635.闽江学院，福建 福州 350108 |
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| 基金项目： | 国家自然科学基金项目52001240重庆市自然科学基金项目cstc2021jcyj-msxmX1220水动力学国防科技重点实验室开放基金项目6142203210204中央高校基本科研业务费专项资金项目213244001 |
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| 摘 要： | 研究了船舶编队控制的特点，从船舶编队控制结构、编队路径规划、编队运动建模和编队运动控制4个方面分别对现状和方法进行分析；介绍了船舶编队控制原理，描述了船舶编队领导-跟随结构、虚拟结构、图论结构、基于行为结构的数学表示方法及应用场景；针对船舶编队路径规划，总结了编队环境建模、全局路径规划和局部避碰规划等最新方法及其特点，展示了基于粒子群优化算法的船舶编队局部避碰效果；针对船舶编队控制运动建模，构建了考虑干扰、控制时延和约束的船舶编队水动力模型，并将该模型在船舶编队过闸控制场景中进行了验证；针对船舶编队运动控制，归纳了典型集中式、分散式和分布式编队控制器特点，指出分布式编队控制器具有更好的鲁棒性和可扩展性，设计了基于分布式模型预测控制的编队航行控制器。研究结果表明:目前船舶编队控制技术瓶颈主要体现在有人/无人编队共融、岸端驾控为主的内河船舶编队控制、不确定干扰下的船舶编队控制、通信受限下船舶编队鲁棒控制、特殊水域船舶编队控制和船舶编队控制一致性等方面；在未来船舶编队发展中，应重点解决船舶编队分布式协同控制、船舶编队任务多元化控制、基于生物群体机制的船舶编队控制、特殊水域船舶编队控制、人工智能技术在船舶编队控制中的应用等问题。
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| 关 键 词： | 船舶编队 编队控制结构 编队路径规划 编队运动模型 分布式控制 人机共融 |
| 收稿时间： | 2022-01-19 |
Overview on ship formation control |
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| LIU Chen-guang,HE Zhi-bo,CHU Xiu-min,WU Wen-xiang,LI Song-long,XIE Shuo.Overview on ship formation control[J].Journal of Traffic and Transportation Engineering,2022,22(4):10-27. |
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| Authors: | LIU Chen-guang HE Zhi-bo CHU Xiu-min WU Wen-xiang LI Song-long XIE Shuo |
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| Affiliation: | 1.National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, Hubei, China2.Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, Hubei, China3.Chongqing Research Institute, Wuhan University of Technology, Chongqing 401120, China4.School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China5.Minjiang University, Fuzhou 350108, Fujian, China |
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| Abstract: | The characteristics of ship formation control were studied, and its current situation and methods were analyzed from the aspects of the structure of ship formation control, formation path planning, formation motion modeling, and formation motion control. The principle of ship formation control was introduced, and the mathematical representation methods and application scenarios of leader-follower structure, virtual structure, graph theory structure, and behavior-based structure of ship formations were described. For the path planning of ship formations, the latest methods and characteristics of formation environment modeling, global path planning, and local collision avoidance planning were summarized, and the local collision avoidance effect of ship formations based on the particle swarm optimization algorithm was demonstrated. For the motion modeling of ship formation control, a hydrodynamic model of ship formations considering the disturbance, control delay, and constraints was built and verified in the contral scenario of a ship formation passing through the lock waterway. For the motion control of ship formations, the characteristics of typical centralized, decentralized, and distributed formation controllers were summarized. It was pointed out that the distributed formation controller had better robustness and scalability, and hence, a formation navigation controller based on the distributed model predictive control was designed. Analysis results show that the technical bottleneck of ship formation control is mainly reflected in the aspects such as the integration of manned/unmanned formations, inland ship formation control mainly based on shore-side driving and control, ship formation control under uncertain disturbances, robust ship formation control under communication constraints, ship formation control in special waters, and consistency of ship formation control. In the future development of ship formations, the following key problems should be addressed: distributed collaborative control of ship formations, diversified control of ship formation tasks, ship formation control based on the biological group mechanism, ship formation control in special waters, and application of artificial intelligence technology in ship formation control. |
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