Design and Implementation of Autonomous Navigation and Control System for Unmanned Surface Vehicle

被引:0
|
作者
Chen, Zhuo [1 ]
Jin, Jianhai [1 ]
Zhang, Bo [1 ]
Bao, Tao [1 ]
机构
[1] China Ship Scientific Research Center, Wuxi,214082, China
来源
Ship Building of China | 2020年 / 61卷
关键词
Unmanned surface vehicles;
D O I
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中图分类号
学科分类号
摘要
Unmanned surface vehicle (USV) has the characteristics of small size, rapidity and flexibility in movement. It can be used to perform various water missions in the military and civilian fields, such as monitoring water quality, sea search and rescue, military reconnaissance and anti-submarine. Navigation and control system is the basis and key technology for the intelligent navigation of USV. In this paper, a system for autonomous navigation and control is designed for a small USV. There are two control modes of remote control and autonomous navigation in the system, which can achieve target point cruise and autonomous collision avoidance planning. A weighted Fast Marching Method based on the grid map is proposed for the global path planning of the USV, the Velocity Obstacle model-based method is used for local collision avoidance, and the trajectory tracking and motion control parts use the Line of Sight method and PID control algorithm, respectively. A test platform for the USV navigation and control system is developed, and trajectory tracking and autonomous collision avoidance tests are conducted in open water to verify the reliability and effectiveness of the system. © 2020, Editorial Office of Ship Building of China. All right reserved.
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页码:89 / 96
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