公开(公告)号：US11887485B2

公开(公告)日：2024-01-30

申请号：US17467916

申请日：2021-09-07

申请人： Shanghai University ,  Chongqing University

发明人： Huayan Pu ,  Yuan Liu ,  Jun Luo ,  Zhijiang Xie ,  Jiajia Xie ,  Xiaomao Li ,  Zhou Su ,  Yan Peng ,  Hengyu Li ,  Shaorong Xie

IPC分类号： B63B49/00 ,  G08G3/00 ,  B63B79/15 ,  B63B79/40 ,  B63B79/20 ,  G05B13/02 ,  G05D1/02

CPC分类号： G08G3/00 ,  B63B49/00 ,  B63B79/15 ,  B63B79/20 ,  B63B79/40 ,  G05B13/0265 ,  G05D1/0206

摘要： A control method and system for collaborative interception by multiple unmanned surface vessels are provided. The method includes obtaining task environment information of each unmanned surface vessel in an unmanned surface vessel group at a current moment, estimating interception point information of the intruding target at the current moment by using a Kalman filter according to the task environment information of the unmanned surface vessels at the current moment, determining process state information of each unmanned surface vessel at the current moment, inputting the process state information of each unmanned surface vessel at the current moment into a corresponding intruding target interception policy output model respectively to obtain an execution action of each unmanned surface vessel at a next moment to intercept the intruding target. The application can intercept the intruding target accurately.