指挥控制与仿真2025，Vol.47Issue(5)：9-17,9.DOI:10.3969/j.issn.1673-3819.2025.05.002
大型舰船甲板多车编队协同作业研究
Research on the coordinated transportation of multi-vehicle formations on the deck of large ships
摘要
Abstract
Aiming at the transportation problems of large cargo and carrier aircraft on the deck of large ships,a multi vehicle formation cooperative transportation strategy based on improved pilot following algorithm is proposed.The stability and accu-racy of the traditional navigation following algorithm for multi vehicle operation can not fully meet the needs of large ship deck operation.The multi vehicle steering kinematics model is established,the traditional navigation following algorithm is im-proved,the virtual pose and linear feedback control are added to eliminate the formation error,the stability is verified and the emergency control strategy is designed.The lateral error of the improved formation is reduced from 0.01 m to 0.004 m under the circumferential condition.The lateral error of formation is reduced from±0.01 m to±0.002 m under sinusoidal condition.The results show that the improved lateral tracking accuracy of formation motion is improved,which is more con-ducive to formation transportation.关键词
飞行甲板/多车编队/协同运输/领航跟随算法Key words
flight deck/multi-vehicle formations/cotransport/leader-follower algorithm分类
交通工程引用本文复制引用
熊珍凯,杨昊天,孙胤胤,林信海,刘家胜..大型舰船甲板多车编队协同作业研究[J].指挥控制与仿真,2025,47(5):9-17,9.基金项目
国家自然科学基金资助项目(62303017) （62303017）
安徽理工大学高层次人才引进基金项目(2023yjrc55) （2023yjrc55）
