Research On The Obstacle Avoidance Performance Test System Of Unmanned Surface Vehicles Based On Mobile Buoy

In the process of large-scale promotion and application of unmanned surface vehicles,the development level of its autonomous navigation performance testing technology is asymmetric to its application.In order to promote the improvement of autonomous navigation technology and safety of unmanned surface vehicles,it is necessary to explore and study its performance testing.Obstacle avoidance performance is one of the most intuitive and comprehensive performances of unmanned surface vehicles for autonomous navigation.The research on the obstacle avoidance performance test technology of unmanned surface vehicles is of great significance.With the title of "Research on the Obstacle Avoidance Performance Test System of Unmanned Surface Vehicle Based on Mobile Buoy",this paper designs the framework of the test system and the software and hardware of the mobile buoy measurement and control system,propose a method for monitoring the obstacle avoidance and navigation of the unmanned surface vehicle,which is based on the buoy solution first and then the shore-based fusion,and a quantitative evaluation model for the obstacle avoidance performance of the unmanned surface vehicle is established and verified by experiments.The main works of this paper are illustrated as follows:(1)Analyze the requirements for the obstacle avoidance performance test of the unmanned surface vehicle,and design the architecture of the test system for the obstacle avoidance performance of the unmanned surface vehicle based on the mobile buoy.Plan the test technical plan,including obstacle perception,static obstacle avoidance and dynamic obstacle avoidance performance test parts,and respectively determine the test scenarios,test tasks and test steps.(2)Combined with the framework of the test system for the obstacle avoidance performance of the unmanned surface vehicle,the mobile buoy integrated measurement and control system is designed;The monitoring and control system is divided into subsystems,and the hardware design and selection functions in accordance with various subsystems;Design the execution process of each module of the software framework of the measurement and control system,so that the mobile buoy can collect the navigation information of the unmanned surface vehicle while acting as an obstacle.(3)In view of the obstacle avoidance navigation monitoring problem of the unmanned surface vehicle,combined with the structure of the test system,the determination of the navigation position of the unmanned surface vehicle is divided into two parts: the first buoy solution and the shore-based fusion solution.The point cloud data and DGPS data after fusion filtering of each buoy are used to calculate the navigation position of the unmanned surface vehicle and transmit it to the shore base;The shore-based determines the weight of each buoy data by niche genetic algorithm,and then adaptively weighted fusion to obtain the navigation position of the unmanned surface vehicle.(4)Aiming at the problem of the quantitative evaluation of the obstacle avoidance performance of the unmanned surface vehicle,the analytic hierarchy process is used to divide the obstacle avoidance performance evaluation into three layers: evaluation aspects,evaluation factors,and basic measurement data.Each level of indicators is selected and the weights are determined;Use cost function method and fuzzy comprehensive evaluation method to establish evaluation model of evaluation factor level and evaluation aspect level respectively;Design quantitative evaluation software to display the trajectory,video and quantitative evaluation results of the unmanned surface vehicle and mobile buoy in real time,and save the evaluation data.(5)Research on obstacle avoidance performance of unmanned surface vehicle based on mobile buoy.A mobile buoy platform was set up to conduct autonomous navigation monitoring experiments for the unmanned surface vehicle in the test area.The results showed that the static position and dynamic trajectory errors of the unmanned surface vehicle after shore-based fusion were reduced,and the errors were smaller than 10% of the length of the unmanned surface vehicle.Obstacle avoidance tests are carried out based on the mobile buoy simulation obstacle avoidance scene,and the voyage data is used to quantitatively evaluate the obstacle avoidance performance.The results show that the obstacle perception,static obstacle avoidance,and dynamic obstacle avoidance performance evaluation of the unmanned surface vehicle by the test system is reasonable.The score is positively correlated with the obstacle avoidance performance of unmanned surface vehicles,and can provide suggestions for improving the obstacle avoidance performance of unmanned surface vehicles.The above research content provides a set of new ideas and new methods for the obstacle avoidance performance test of unmanned surface vehicle,which has high academic value and engineering application value.