The Design Of USV Motion Control System Based On ROS

USV are those unmanned intelligent combat platforms that rely on remote-controlled or autonomous way navigating in the sea. With intelligent, high-speed, stealth, etc, USV is increasingly used in military and civilian fields. In order to improve maritime combat systems, USV is becoming dangerous alternative and complementary someone plat form sin some areas. USV has high autonomy and huge market potential, and particularly suitable as perform military tasks platform, rescue facilities platform, information gathering platform. Based on current USV integrated key technologies used in the conduct, we expand the motion control design of the USV.Firstly, based on the functional architecture of the USV, we design the overall program, followed by the hardware design of the control system, The hardware design includes executive unit(spray pumps, and diesel), navigation positioning unit(mainly rely on GPS, digital compass, and Doppler velocity meter module to achieved), main controlled unit(The PC104), information collection unit(mainly refer to CMOS camera, and each sensors).Secondly, on the motherboard PMI2 of USV, we install Linux system based on Ubuntu and adopt ROS operating system in upper layer software architecture of USV. The system has the nature of distribution. We complete integrated software modules through message passing mechanism provided by ROS, and design the remote control platform of the software part. Then, we successfully implement the data transmission and reception by the wireless network, the real-time monitoring of the USV sailing condition, the remote control, and other functions.Finally, from two aspects of kinematics and dynamics, we analyze the mechanical characteristics of the USV. This paper studies the unmanned boat model and sorts out the equations of motion. Due to the large inertia when the USV is yachting, the mathematical model will be simplified. We use the Nomoto model as mathematical model of the USV which can control the course. According to this feature of water-jet propulsion what we use in this paper, we establish speed mathematical models of this USV. Then, according to the mathematical model of USV, combining the study of actual motion control, we use PID and fuzzy PID controller to design speed and course control law of this USV. We simulate the control law by Matlab. By way of analyzing and comparing the two methods, the analysis results show that fuzzy PID control has more advantages than the traditional PID control.