Research On The Control Technology Of Port Defense Unmanned Surface Vehicle Control System

With the rapid development of artificial intelligence and autonomous control of unrmanned technology,Unmanned Surface Vehicle has also become more mature.Unmanned Surface Vehicle with its high degree of intelligence,modularity,economy,security and other characteristics have been applied to military and civilian fields.Nowadays,Unmanned Surface Vehicle are not only capable of autonomous navigation at sea,but can independently accomplish a task with different mission modes and handle some relatively boring and dangerous activities.Port defense is an important part of national defense security.By unmanned Loiterling the port,it is an effective measure to handle some tasks under abnormal circumstances.Based on the port defense,this paper studies the technology of the port defense unmanned control system and designs the method of switching and optimizing the port defense beha'vior and behavior.First of all,the current situation and development trend of Unmanned Surface Vehicle at our country and abroad are introduced,and examples of the application of foreign unmanned boats in port defense are emphatically introduced.Secondly,it summarizes the task of port and the concept of Unmanned Surface Vehicle application in the design of port defense.Now port defense Loiterling is a time-consuming and labor-intensive task.The introduction of Unmanned Surface Vehicle into porlt defense has enhanced safety and real-time perfonnance.Again based on the behavior-based control system,the hybrid control architecture and behavior architecture are combined to construct a control architecture suitable for the port-defense Unmanned Surface Vehicle.The method of interval planning is used to construct the behavior,establish the beha\vioral objective fu.nction,and conduct the multi-objective optimization of the behavior.Then the model of the behavior of harbor defense is modeled,the steering point behavior is constructed by using the guidance rate principle,the Loiter behavior is constructed by controlling the Loiter polygon boundary,the linear extrapolation method is used to construct the tracking behavior,the linear descent method is used to construct the fixed point behavior,Jracing behavior extends beyond driving behavior and interception.Dynamic cheduling of actions through hierarchical pattern declarations.Finally,through the open source software,the behavior was actually developed and simulated.The turning point behavior,Loiter behavior and fixed point behavior were concretely realized,and the transition point behavior was simulated.Combined with the actual reconnaissance mission,these three kinds of behaviors work together to achieve the purpose of defense.The results of the simulation are analyzed to verify the effectiveness of the action.