Research On Control System Design And Path Planning Technology For Unmanned Surface Vehicle

With the rapid advancement of science and technology today,unmanned surface vehicles are developing in the direction of high speed,modularization and intelligence.It is widely used not only in hydro meteorological exploration,environmental monitoring,geological survey,and marine rescue.It also has a place in the field of surface warfare such as weapons projection,mine clearance,detection and scientific research field of extreme environment.In this regard,this paper designs and develops an unmanned surface vehicle’s system,and carried out experiments on unmanned surface vehicles in the Songhua River,and research on path planning technology The specific research work is as follows.An unmanned surface vehicles system with two modes of maneuvering on the ship’s side and the shore-side remote-controlled navigation was designed and developed.The shipboard terminal and the shore-based control center transmit control and status information through the WIFI module,real-time video transmission via bridge module.The outboard engine controller with STM32F429IGT6 micro control unit as the core realizes the operation of ignition,damper,gear,throttle and steering of the outboard engine.Controlling the unmanned surface vehicles and monitoring its status through the display and control interface and electronic map display interface of the designed shore-based control center.In Songhua River control function experiment,control mode experiment,minimum turning radius experiment,track comparison experiment,communication distance measurement experiment of unmanned surface vehicles were carried out.Limitations of local minimums and target points unreachable for artificial potential field method,the study of path planning techniques using the fast marching method of establishing the potential field is also adopted.Simulation experiment with artificial potential field method,it is verified that the fast marching method does not have the limitation of the local minimum and the target point unreachable.At the same time,there is a certain risk of collision for unmanned surface vehicles approaching obstacles,method of introducing a safe potential field and superimposing a potential field.You can choose how far the generated path is from the obstacle.And the smooth and non-collision path is suitable for unmanned surface vehicle sailing.Then use the data obtained from the field experiment,establish an unmanned surface guided model,and study on the collision avoidance of local static obstacles in unmanned surface vehicle,and the obtained collision avoidance path conforms to the International Regulations for Preventing Collisions at Sea.Finally,the path simulation comparison experiment is carried out by using obstacles with different shapes and different numbers in the environmental information.It is verified that the fast marching method of superimposed potential field has good path planning ability under simple and complex environmental information.And through track comparison experiment of the unmanned surface vehicle to verify that the resulting path is suitable for unmanned surface vehicle sailing.