Distributed cooperative formation of multiple unmanned ships based on KF. Issue 1 (February 2021) - Liu, Wang
Abstract: 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.