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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Autor principal:	YU Te, WANG Lei
Formato:	article
Lenguaje:	ZH
Publicado:	Editorial Office of Journal of Shanghai Jiao Tong University 2021
Materias:	self-assembling unmanned vessel offshore platform cooperative control Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989
Acceso en línea:	https://doaj.org/article/8710c228ea2c4b1d8dfb04476bd95be8
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id	oai:doaj.org-article:8710c228ea2c4b1d8dfb04476bd95be8
record_format	dspace
spelling	oai:doaj.org-article:8710c228ea2c4b1d8dfb04476bd95be82021-12-03T02:59:24ZAlgorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control1006-246710.16183/j.cnki.jsjtu.2020.415https://doaj.org/article/8710c228ea2c4b1d8dfb04476bd95be82021-11-01T00:00:00Zhttp://xuebao.sjtu.edu.cn/article/2021/1006-2467/1006-2467-55-11-1493.shtmlhttps://doaj.org/toc/1006-2467A 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.YU Te, WANG LeiEditorial Office of Journal of Shanghai Jiao Tong Universityarticleself-assemblingunmanned vesseloffshore platformcooperative controlEngineering (General). Civil engineering (General)TA1-2040Chemical engineeringTP155-156Naval architecture. Shipbuilding. Marine engineeringVM1-989ZHShanghai Jiaotong Daxue xuebao, Vol 55, Iss 11, Pp 1493-1498 (2021)
institution	DOAJ
collection	DOAJ
language	ZH
topic	self-assembling unmanned vessel offshore platform cooperative control Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989
spellingShingle	self-assembling unmanned vessel offshore platform cooperative control Engineering (General). Civil engineering (General) TA1-2040 Chemical engineering TP155-156 Naval architecture. Shipbuilding. Marine engineering VM1-989 YU Te, WANG Lei Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
description	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.
format	article
author	YU Te, WANG Lei
author_facet	YU Te, WANG Lei
author_sort	YU Te, WANG Lei
title	Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
title_short	Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
title_full	Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
title_fullStr	Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
title_full_unstemmed	Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control
title_sort	algorithm and experimental verification of self-assembling platform based on cooperative control
publisher	Editorial Office of Journal of Shanghai Jiao Tong University
publishDate	2021
url	https://doaj.org/article/8710c228ea2c4b1d8dfb04476bd95be8
work_keys_str_mv	AT yutewanglei algorithmandexperimentalverificationofselfassemblingplatformbasedoncooperativecontrol
_version_	1718373943042113536

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

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