Research On Unmanned Boat Autonomous Navigation Planning And Target Tracking Method

As an important measure of national economic strategy,the research and use of unmanned boat promotes the development of marine economy.This paper studies the autonomous navigation of unmanned boat,which is beneficial to reduce the offshore marine transportation cost and labor cost.It can be used for minerals,fishery transportation,ship and island resource replenishment,marine mapping and hydrological monitoring.The core of unmanned boat technique is autonomous navigation,which consists of global path planning and local obstacle avoidance.The global planning includes the acquisition of sea surface environment information and the realization of the path planning algorithm.The local obstacle avoidance of the unmanned boat requires obstacles detection and tracking,and then developing obstacle avoidance strategies.The main achievements in this paper are the acquisition of sea surface information;the realization of global path planning algorithm;the implementation of detection and tracking of dynamic obstacles in local obstacle avoidance process.The research on the autonomous navigation of unmanned boat is of great significance for the actual application.Relevant research has received financial support from the Guangdong Science and Technology Plan Project(2017B010118002).The main work of the thesis includes:(1)Analysis and introduction of the theory model and data structure in S-57 electronic chart and ISO8211 packaging standard of S-57 electronic chart.Realization of information extraction of the electronic chart.(2)Implementation of the unmanned boat global path planning algorithm.This paper proposes to use the Rapidly-exploring Random Tree algorithm(RRT)for unmanned boat path planning by analyzing the existing algorithm's performance deficiencies.According to actual project requirements,the Multi-waypoint unmanned boat path planning method based on RRT is proposed.The effectiveness of the algorithm is verified by experiments on real boat.Finally,the S-57 electronic chart display and the unmanned boat path planning system is realized.(3)About the demand of the unmanned boat continuously and accurately target tracking in the process of local obstacle avoidance,this paper introduces the long-term target tracking TLD algorithm and analyzes the existing shortcomings.By adding selective search candidate box generation algorithm and the correlation filtering algorithm,the paper proposes TLD_CF target tracking algorithm to improve the accuracy and robustness of the TLD algorithm.