Research On Area Keeping Method Of USV Based On Motion Simulation

In recent years, USV technology is developing rapidly. For the USV operating in the sea,its working space must keep in a certain area. But the external disturbing force will cause some degree of movement of the USV, so the USV must achieve area keeping when working in the sea. At present, the USV can not use anchoring technology to achieve area keeping due to the space constraints. The equipments are relatively simple, thus sophisticated control methods can not be adopted. Besides, the conditions around are usually unknown when the USV is working in the sea. In order to achieve the area keeping of the USV, the above problems must be solved. The thesis presents a simple area keeping method based on the simulation track of USV, and makes verification by simulation. In addition, the paper tries to do some research on the motion simulation and area keeping under unknown sea conditions.The paper develops from the following aspects:1. Determine the overall scheme of the area keeping for USV, analyze the idea of area keeping, the working stages and steps, and make clear the research direction.2. According to the MMG modeling ideas, establish the mathematical model of USV and solve the model by the Runge-Kutta method. Based on MATLAB platform, the simulation program for USV track simulation is developed, and the trajectory simulation results of USV under different conditions are obtained.3. According to the actual conditions, based on the motion simulation results, propose an area keeping method for USV. Analyze and calculate the implementation process and the key parameters involved. Taking it as the core, write the programs and simulate the track of USV.Then obtain the simulation results of the area keeping for USV under different conditions and the computation results of key parameters.4. For the practical working conditions of USV, make study on the motion simulation algorithm of unknown sea condition, and propose an algorithm for the motion simulation under undefined disturbance force. The theoretical basis and calculation process of this algorithm are analyzed, and by using the above motion simulation results, the algorithm are compared and verified.5. Based on the motion simulation results under unknown sea conditions, make research on the area keeping methods for USV under such conditions. Combined with the motion simulation algorithm and the area keeping method, the area keeping method under unknown sea conditions is simulated and analyzed. Then obtain the simulation results of the area keeping for USV,and make comparation with the results under known sea conditions.