Design Of Optimal Path Planning Water Quality Monitoring Unmanned Ship System Based On Internet Of Things

The development of Internet of Things technologies such as embedded systems,sensors and wireless transmission has brought more possibilities for the application of unmanned ships,among which water quality monitoring has gradually become a research hotspot.It is not only because the water quality of rivers,lakes,reservoirs and other scenes directly affects human health and safety,but also plays an important role in the stability of aquatic ecosystems.The traditional water quality monitoring method has the problems cumbersome distribution of monitoring points and high cost.In order to improve the above situation,this paper studies and designs a low-cost,lightweight intelligent water quality monitoring unmanned ship system.The system maps the monitored water area to Baidu Map for interface display,and integrates multi-point path optimization,autonomous obstacle avoidance navigation,real-time water quality monitoring and other functions.The main research work of this paper is as follows:1.Aiming at the problem of traversing multiple monitoring points in the target water area,a path planning scheme for unmanned ships is designed.First,genetic algorithm and artificial potential field strategy are used to search the global route and local obstacle avoidance respectively;Then,the defects of traditional genetic algorithm are improved.The main strategy is to generate the initial population based on the greedy principle,and set up an adaptive mechanism to dynamically adjust the probability of crossover and mutation,and introduce heuristic crossover operator and2-opt mutation operator;Finally,the python program is written on the pycharm platform to carry out the simulation experiment,which proves that the improved algorithm has better effect,shorter path distance and better convergence effect,and the artificial potential field method can also effectively avoid obstacles.2.Design the overall structure of the unmanned ship system and build the hardware platform.The classic three-layer framework of the Internet of Things is the foundation of the unmanned ship system.The application layer corresponds to the desktop application,the network layer is the data transmission part,and the perception layer is the shipborne system in this paper.The hardware selection and platform construction include power unit including power supply,navigation unit composed of Beidou module and various data measurement and transmission units.3.Consider the software requirements and implement the unmanned ship control application.Based on the μC/OS-III operating system,the electronic control,data transmission and heading control programs are compiled to realize the real-time and stability of the lower computer system.The upper computer application program is based on the Qt platform,combined with the signal and slot mechanism,database technology and path planning algorithm,to realize the storage of water quality data and the optimal path planning and autonomous navigation of unmanned ships.The results of many launching tests show that the system can flexibly arrange monitoring points in the target waters in combination with Baidu Map.Unmanned ships can better complete the optimal path planning and autonomous obstacle avoidance between multiple monitoring points.At the same time,the system has the functions of historical data query and track display.Compared with the early water quality unmanned ship,this system has lower cost,portable volume and good stability,and can meet the daily needs of water quality monitoring.