US 12,242,270 B2
Method and system for controlling multi-unmanned surface vessel collaborative search
Huayan Pu, Shanghai (CN); Yuan Liu, Shanghai (CN); Jun Luo, Chongqing (CN); Zhijiang Xie, Chongqing (CN); Xiaomao Li, Shanghai (CN); Jiajia Xie, Shanghai (CN); Zhou Su, Shanghai (CN); Yan Peng, Shanghai (CN); and Shaorong Xie, Shanghai (CN)
Assigned to Shanghai University, Shanghai (CN); and Chongqing University, Chongqing (CN)
Filed by Shanghai University, Shanghai (CN); and Chongqing University, Chongqing (CN)
Filed on Sep. 8, 2021, as Appl. No. 17/469,155.
Claims priority of application No. 202110012855.6 (CN), filed on Jan. 6, 2021.
Prior Publication US 2022/0214688 A1, Jul. 7, 2022
Int. Cl. G05D 1/00 (2024.01); B63B 79/10 (2020.01); B63B 79/40 (2020.01); G06N 20/00 (2019.01); G08G 3/02 (2006.01)
CPC G05D 1/0206 (2013.01) [B63B 79/10 (2020.01); B63B 79/40 (2020.01); G08G 3/02 (2013.01); G06N 20/00 (2019.01)] 10 Claims
OG exemplary drawing
 
1. A method for controlling multi-unmanned surface vessel (USV) collaborative search, comprising:
carrying out following operations by a USV controller comprising a processor and a plurality of target search strategy output models, wherein each target search strategy output model is obtained based on a training of training samples and a double deep Q-network (DDQN) network structure:
determining a task region of a USV team, wherein the USV team comprises a plurality of USVs, each of the plurality of the USVs corresponds to one target search strategy output model;
determining environmental perception information corresponding to each of the USVs at a current moment according to the task region and a probability graph mode, wherein the environmental perception information comprises target information, collaboration information, obstacle observation information and collision avoidance information; and
inputting the environmental perception information corresponding to each of the USVs at the current moment into a corresponding target search strategy output model respectively to obtain an execution action signal of each of the USVs at a next moment; and
receiving the execution action signal of each of the USVs at the next moment by a corresponding USV execution structure such that the corresponding USV execution structure is controlled to perform an execution action corresponding to the execution action signal for searching for underwater targets in the task region.