Study On Target Tracking And Obstacle Avoidance Of Small Surface Craft

Under the general environment of the country's efforts to build a strong maritime nation,enhancing the intelligence of marine military equipment is a major core of upgrading the overall level of equipment.At the same time,the unmanned movement of various modes of transport has also become the mainstream trend of current development.Every year,a large amount of funds and manpower are invested into it.In this regard,the research on mobile robots is relatively mature,but it is still in the intelligent development of surface boats.In the beginning stage.In this paper,we design a small-scale surface vessel to achieve the task of target tracking and obstacle avoidance.We independently design target tracking and target location algorithms.We plan the navigation path for small-scale surface boats in response to obstacles in the surface environment during the tracking process.,Plan for a collision-free path that will enable small surface boats to track the target's safety from its current location and can circumvent obstacles on the path.Firstly,this paper establishes a control model for the small surface watercraft used in the experiment.Based on the three-degree-of-freedom small-scale surface watercraft model,it is analyzed to get the control response equation of the small-scale surface craft: the Nomoto model,and the small surface water used in the experiment is obtained through experiments.Boat Nomoto model parameters.Then,the target is tracked and positioned by a monocular camera on a small surface boat.The tracking of the target is achieved based on the KCF(Nuclear Correlation Filtering)algorithm,and a target positioning algorithm based on a monocular camera is proposed.In the process of possible loss of target,use the relationship between the response values of different frames to determine whether the target is lost.After the target disappears and then reappears in the camera field of view,the difference between the two frames will be performed to obtain the residual image.And it is binarized,and then the target is detected again by the K-Means algorithm to realize the re-establishment of the accurate model,so as to realize the re-tracking of the lost target.Then,for the problem of obstructions encountered during the navigation of the small-scale surface craft,the artificial potential field method is used to plan the diameter of the obstacles.Targets near the targets existing in the traditional artificial potential field method cause the target position to be unreachable and easily fall into local minimum values.The point defect,by rewriting the repulsive potential field function and introducing the oscillating function in the gravitational potential field function,proposes an improved artificial potential field method for the path planning of the small surface watercraft sailing.Based on the control model of the small surface boat,the heading controller based on the auto-disturbance-rejection algorithm was designed for the small-scale surface boat,and its effectiveness was verified by MATLAB simulation.Finally,in order to verify whether the proposed method is effective for the target tracking and obstacle avoidance of small-scale surface boats,the overall structure of small-scale surface-mounted boats is analyzed,and the system is designed from two aspects: hardware and software.Finally,through actual ship experiments,the small-scale surface-water boat was used to track the target in the case of obstacles and obstacles on the water surface,thus verifying the effectiveness and feasibility of the designed system.