Research On Navigation And Guidance Of Autonomous Surface Vehicle

In recent years, the application and progress of Unmanned Surface Vehicle (USV) have attracted extensive attention. The area of autonomous navigation is a major research area for the development of USV. Autonomy offers the benefit of minimizing manning and bandwidth requirements while ensuring the safety of navigation through the independent decision-making function. Another aspect of autonomy is the cooperative or collaborative coordination among multiple vehicles. This is viewed as an important enabling capability for large-scale combat system and ocean surveillance.Autonomous navigation system of USV is very complex. In order to achieve autonomous navigation, there must be a core algorithm as its decision-making basis. This thesis mainly researches three important aspects of the autonomous navigation, including:path planning, automatic collision avoidance and guidance function. It has completed the following works.First of all, according to the demands of USV path planning, this thesis researches planning algorithm, modeling of the environment and constraint conditions. A*algorithm is regarded as the planning algorithm, and environment model is established based on electronic chart data. A*algorithm has been improved in order to fitting for the sailing of USV. Then a software has been programmed for USV path planning and using the electronic chart data around Dalian tested to prove the validity of A*algorithm and usability of this software.Secondly, the principle of automatic collision avoidance for USV is researched, and the model of velocity obstacles method is established, then rules about "Convention on the International Regulations for Preventing Collisions at Sea" are taken into consideration for making decision to avoid collision.Finally, according to the kinetic characteristic of USV its automatic guidance is researched using missile guidance algorithm, and the tracks that USV pursuits, intercepts and changes its formation are simulated. So that the applicability of the missile guidance algorithm is proved.