Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
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 dock...
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| Main Author: | |
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| Format: | article |
| Language: | ZH |
| Published: |
Editorial Office of Journal of Shanghai Jiao Tong University
2021
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| Subjects: | |
| Online Access: | https://doaj.org/article/8710c228ea2c4b1d8dfb04476bd95be8 |
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| Summary: | 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. |
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