Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control

doi:10.16183/j.cnki.jsjtu.2020.415

Abstract

Abstract:

A method for constructing a novel offshore platform was proposed. Based on the cooperative control of multiple unmanned vessels, a self-assembling platform was realized, which could be reconfigured into different shapes according to requirements. A docking controller was designed to realize the docking of two modules. A connecting rod and electromagnetic forces were adopted to complete the docking and reduce the difficulty. Besides, a test site was constructed using the conditions of pool, and a model test was performed to verify the functions of the proposed self-assembling platform. The results show that the design can realize the docking of any unmanned vessel. Compared with the single platform, this self-assembling platform can perform more complex tasks, whose decentralized design makes it more flexible and reliable.

Key words: self-assembling, unmanned vessel, offshore platform, cooperative control

CLC Number:

TP273

YU Te, WANG Lei. Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control[J]. Journal of Shanghai Jiao Tong University, 2021, 55(11): 1493-1498.

Figures/Tables 11

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