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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. doi: 10.19818/j.cnki.1671-1637.2022.04.002
Citation: 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. doi: 10.19818/j.cnki.1671-1637.2022.04.002
shu

Overview on ship formation control

doi: 10.19818/j.cnki.1671-1637.2022.04.002
  • 1.

    National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 2.

    Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 3.

    Chongqing Research Institute, Wuhan University of Technology, Chongqing 401120, China

  • 4.

    School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 5.

    Minjiang University, Fuzhou 350108, Fujian, China

Funds:

National Natural Science Foundation of China 52001240

Natural Science Foundation of Chongqing cstc2021jcyj-msxmX1220

Open Project Program of Science and Technology on Hydrodynamics Laboratory 6142203210204

Fundamental Research Funds for the Central Universities 213244001

More Information
  • Author Bio:

    LIU Chen-guang(1988-), male, associate professor, PhD, liuchenguang@whut.edu.cn

    CHU Xiu-min(1969-), male, professor, PhD, chuxm@whut.edu.cn

  • Received Date: 2022-01-19
    Available Online: 2022-10-08
  • Publish Date: 2022-08-25
    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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