Formation path control method for group coordination based on fuzzy logic control method

摘要

Unmanned ship is an effective tool for human to exploit the sea. Single unmanned ship has been far from meeting the complex needs of the development of the ocean. But multiple unmanned ships cooperation system could expand the perception scope of individual unmanned ship, and achieve complex tasks. By adopting leader–follower architecture, the formation control scheme is composed of three vehicles. The objective is to synchronize the motion of the flock and show high performances of cooperative control. The controller uses fuzzy control, however, Fuzzy control not only depends on the fuzzy rules of experts, while scaling factors are important parameters that affect the performance of fuzzy control, and scaling factors are usually obtained by trial and error, so it is necessary to find a quick and effective way to adjust the quantization parameters. This paper uses the intelligent algorithm to optimize the entire controller. The simulation results show that follower unmanned ships move to the leader's path quickly. The proposed method has fast response speed wave disturbances with strong robustness.