大型舰船甲板多车编队协同作业研究

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中图分类号：U664.82 文献标志码：A DOI：10.3969/j.issn.1673-3819.2025.05.002

Abstract：Aimingatthetransportationproblemsoflargecargoandcarieraircraftonthedeckoflargeships，amulti vehicle formationcooperativetransportationstrategybasedonimprovedpilotfolowingalgorithm isproposed.Thestabilityandacuracyof the traditionalnavigationfollowingalgorithmformulti vehicleoperationcannotfully meet theneedsoflarge shipdeck operation.Themultivehiclesteringkinematicsmodel isestablished，thetraditionalnavigationfolowingalgorithmisimproved，thevirtualposeandlinearfedbackcontrolareaddedtoeliminatetheformationeror，thestabilityisverifiedand the emergency control strategy is designed.The lateral error of the improved formation is reduced from 0.01 m to 0.004 m underthe circumferential condition.The lateral error of formationisreduced from ± 0. 01 m to ± O. OO2 m under sinusoidal condition.Theresultsshowthattheimprovedlateraltrackingaccuracyofformationmotionisimproved，which ismoreconducive to formation transportation.

Keywords：flight deck；multi-vehicle formations；cotransport；leader-follower algorithm

大型船舶是综合国力的集中体现。（剩余12436字）