Design And Implementation Of Autonomous Navigation Control System For Unmanned Sailing Boat Based On ROS

Duo to the use of wind energy as the main power,unmanned sailing boats have advantages such as long endurance,environmental protection and pollution-free,strong reliability and low labor costs compared to other surface autonomous vehicles.Therefore,it has become the focus of research on unmanned surface vehicles in recent years.So,this paper combines robot operating system to design and develop a set of unmanned sailing boat control system based on ROS.The system realizes the function of autonomous navigation of unmanned sailing boats and the use of a host computer to monitor the sailing data of unmanned sailing boats and send control instructions.Firstly,according to the operating principle of unmanned sailing boat.This paper completes the system structure design of unmanned sailing boat.Its composition includes sensor system,navigation algorithm system,communication system,rudder controller,sail controller,actuator,host computer system.Secondly,the hardware design and construction of the system are completed.The type and model of the sensor were determined.The RespBerry Pi 3B+was used as the main controller,and the Arduino UNO R3 was used as the sub-controller.the sail and rudder were controlled by the steering gear.The main controller's role is to collect sensor data and plan routes,use control algorithms to generate control instructions for the rudder and sail,and complete communication with the host computer.The role of the secondary controller is to collect data and drive the steering gear,receive signals from the remote control,and switch the navigation mode.Thirdly,install ROS in RespBerry Pi 3B+and complete node design and programming.Including acquiring sensor data,implementing control algorithms and navigation algorithms,completing two-way data communication with the host computer,etc.Using the development tools to complete the programming of the sub-controller in Arduino UNO R3.Setting up Qt development environment in the host computer and using C++language to complete the development of host computer interface.Realized the functions of acquiring sailing sport data,sending control instructions,and calling maps to draw real-time trajectories.The communication protocols between the host computer and the Raspberry Pi 3B+and between the Raspberry Pi 3B+and the Arduino UNO R3 are designed so that the data can be sent and received and analyzed normally.Finally,test the entire system.Including the test of Raspberry Pi 3B+program running and two-way data communication test with upper computer and Arduino UNO R3;Arduino UNO R3 receives control instructions and drives the servo;the data display of upper computer and call the online map to draw the movement track;the test of the actual sailing of the unmanned sailing boat.The overall test shows that the designed unmanned sailing boat control system based on ROS has reasonable structure,reliable hardware and complete functions,and has certain application value.