Research On Path Planning And Tracking Control Of Unmanned Surface Vessel

Unmanned surface vessel (Unmanned Surface Vehicle, USV) as an aquatic robot. Because of its strong endurance, intelligent and multi-tasking and other advantages, so that it can be widely used in such as oil exploration, weather monitoring, transportation and other fields.Especially in the poor working environment, USV plays an irreplaceable role in other ships,so USV in water operations in many advantages such that it is widely used in military and civilian fields.The issue with underactuated unmanned surface vessel as an object, its path planning and trajectory tracking conducted in-depth research, the main research studies carried out as follows USV intelligent tracking control and path planning, the main contents are as follows:Firstly, establish a six degrees of freedom and three degrees of freedom kinematic model USV.Analysis of the rigid motion model, hydrodynamic model and torque, the restoring force and torque model, propeller model; the establishment of a dynamic model of USV six degrees of freedom, according to six degrees of freedom model is deduced underactuated surface vessels kinematic motion of three degrees of freedom and kinetic models. Finally, the direct ship model and steady rotation experiments laid the foundation for the later design and research.Secondly, in order to ensure safe navigation of USV, using artificial potential field method for USV path planning design. During the design process, on the one hand to improve the repulsion potential function, to overcome the traditional artificial potential field in the vicinity of the point that can not be an obstacle to reach the target of defect; On the other hand joined the rotation factor in the gravitational potential field, unmanned surface vessel to avoid falling into local minimum point.Finally, for underactuated USV, we designed backstepping tracking control method based on neural dynamic model. First analyzes the working principle of neurons and neural dynamic model was established.And then introduced Lyapunov stability principle and the basic principles of the backstepping approach. And combining neuron model based on the virtual control variable of USV and dynamic neural model simplifies derivative operations. Design a new type of tracking controller. Designed to be dynamic simulation model based on neural USV backstepping tracking controller. Figure shows the simulation results,analysis of the transition issues and the convergence of the speed error signal. Verify the stability of the designed controller.Research on path planning and tracking compliance trace summary, this paper carried out the drive due to unmanned surface vessel, all of the existing theoretical algorithm has been improved, and improve the effectiveness of the algorithm through simulation of the proposed follow-up study to expand new ideas and direction, has important theoretical research and engineering reference promotional value.