Design Of Obstacle Avoidance And Water Quality Monitoring System For USV Based On Improved APF Algorithm

In recent years,the demand for water consumption by all walks of life in China is increasing day by day,and the water resources environment has been seriously challenged.The government has put forward higher requirements for daily water quality monitoring tasks,from manual sampling of water quality in the past to the use of unmanned surface vehicles to monitor water quality,and the impact of obstacles in unknown waters needs to be considered.In China,the research on the unmanned surface vehicle system and its obstacle avoidance algorithm is still in the initial stage of development,and some substantial progress has been made.This technology has become a research hotspot.In this paper,based on the analysis of the domestic and foreign unmanned surface vehicle obstacle avoidance system related research,designed an unmanned surface vehicle obstacle avoidance and water quality monitoring system based on the improved APF algorithm.The system adopts the three-layer architecture of the Internet of Things,including the perception layer,the network layer and the application layer.The sensing layer is mainly composed of controller module,information acquisition module,driving module and power module,the network layer is composed of wireless data transmission module and GPRS module,and the application layer is composed of man-machine interface for water quality monitoring of unmanned surface vehicle written in C#language and database system written in SQL language.The unmanned surface vehicle is equipped with the device modules of the sensing layer and the network layer,and the multi-task operating system of UCOSIII is added to record the current GPS coordinates,azimuth Angle and mode selection in real time,and the data is sent to the monitoring software for processing through the wireless communication module.The monitoring software integrates multi-threading technology to extract effective data.According to the ultrasonic ranging information,the improved APF algorithm is used to judge the surrounding obstacle environment and give instructions to control the movement state of the unmanned surface vehicle.The unmanned surface vehicle arrives at the designated place,waits for a period of time to conduct water quality testing,and transmits the results to the database for future reference after the measurement is completed.This system after many tests,the final result shows that unmanned surface vehicle obstacle avoidance based on modified APF algorithm and its water quality monitoring system can be applied to unknown on the surface of the water,can not only water quality monitoring and obstacle avoidance task,and provide the manual control,automatic map punctuation,Trajectory tracking,navigation history,mode selection,water quality information query,and other functions,friendly man-machine interface.The system has strong practicability and feasibility.The unmanned surface vehicle runs stably in the water area and the data transmission is accurate.It has guiding significance for the current water quality monitoring,Marine surveying and mapping,and agricultural and aquaculture.