The Design And Implementation Of The Independent Berthing And Unberthing Experiment Platform

In the scientific background of artificial intelligence,big data and Internet of Things,unmanned ships have gradually become the focus and development trend of the industry.Unmanned ship technology is a highly integrated technology,which covers a wide range of subjects and fields.The technology of autonomous berthing and unberthing is a key point in the study of unmanned ship technology.Considering the disadvantages,large inertia,weak maneuverability and course stability,a set of experimental platform system of "two-propeller and two-rudder electric propulsion" was designed in this paper.Combined with SLAM technology,the control algorithm of ship autonomous berthing and unberthing technology was verified.The main research contents of this paper are as follows:(1)The research background and significance of ship autonomous berthing and unberthing technology were expounded in this paper.In addition,the demand for the experimental platform was put forward and the platform design scheme of "double propeller and double rudder electric propulsion" was given.The ship motion mathematical modeling was carried out on the experimental platform,and the course controller based on PID algorithm and fuzzy PID algorithm was designed,and the course control simulation of 45° and 90° was carried out.(2)Combined with SLAM technology,laser radar was used as auxiliary equipment to scan and reconstruct the berthing environment.In order to eliminate the influence of map matching caused by ship's large Angle change in the process of berthing and unberthing,this paper added the link of feature point processing on the basis of the original LOAM algorithm,which greatly improved the map matching accuracy and obtained real-time high-precision map construction results.At the same time,the "relocation" function was developed to cope with the situation of repeatedly scanning the same area in the process of berthing and unberthing,further optimizing the effect of drawing construction.(3)The control system of the experimental platform was designed and made from two parts of software and hardware:the hardware system of the experimental platform was divided into:controller module,power module,propulsion module and overall circuit planning.Software system design was divided into:algorithm test module and upper computer information display interface.Finally,the stability,reliability and safety of the whole experimental platform were verified.