Journal of Shanghai Jiao Tong University

Journal of Shanghai Jiaotong University >

2021 , Vol. 55 >Issue 11: 1493 - 1498

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2020.415

Innovation and Design

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

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  • a. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    b. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2020-12-11

  Online published: 2021-06-08

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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

Cite this article

YU Te, WANG Lei . Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control[J]. Journal of Shanghai Jiaotong University, 2021 , 55(11) : 1493 -1498 . DOI: 10.16183/j.cnki.jsjtu.2020.415

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