| The ocean contains rich oil,minerals and other resources.The mining and transportation of these resources require maritime ship operations.The weather on the sea surface is more variable and complicated than that on land.Various problems such as transportation and disasters occur frequently on the sea surface.The safety factor of traditional manned ships on the sea is not high,and they will encounter various safety problems.Unmanned surface vehicles,also known as surface unmanned boats or surface unmanned robots,have become an indispensable part of modern maritime work and naval equipment,and are mainly used to complete dangerous and complex surface tasks.Most of the traditional research on unmanned ship control and unmanned ship path planning is based on a single unmanned ship.Compared with a single unmanned ship,unmanned ship swarms have higher reliability and can complete more complex maritime tasks.It is of great significance in today’s unmanned ship research.This thesis mainly studies from three aspects: the mission planning algorithm of the unmanned ship swarm,the path tracking control algorithm of the unmanned ship and the three-dimensional simulation environment of the unmanned ship swarm.(1)Aiming at the task planning problem in the unmanned ship swarm,the unmanned ship swarm mission planning algorithm based on the CAPT(Concurrent Assignment and Planning of Trajectories)algorithm is adopted,and an improved CAPT algorithm is proposed to solve the unmanned ship swarm in the case of obstacles.Mission planning problem.Firstly,the existing unmanned ship path planning algorithms are analyzed,and then the definition of the unmanned ship swarm problem and the principle of the CAPT algorithm are studied,and the simulation of the unmanned ship swarm mission planning based on the CAPT algorithm is designed.The Theta* path planning algorithm was introduced into the cluster path planning to improve the CAPT algorithm,so that multiple unmanned ships can complete tasks such as changing formation and path planning in complex situations with obstacles.Finally,the simulation experiments of the two algorithms are carried out respectively.The simulation results show that the proposed algorithm for mission planning of unmanned ship swarms has good task allocation and path planning effects.(2)Aiming at the problem of unmanned ship path tracking control,a path tracking control method of unmanned ship based on model predictive control algorithm is proposed.Firstly,the kinematic model of the unmanned ship is analyzed,then the state space model is established,and the model predictive control algorithm and the angle reference algorithm are used to control the output heading.Finally,the path tracking control of the unmanned ship is carried out without wind and wave interference and with wind and wave interference.Experiments,the results show that the MPC-based unmanned ship path tracking control algorithm has good effect and robustness under the disturbance of wind and waves.(3)For the 3D simulation environment of unmanned ship swarms,a 3D simulation software of unmanned ship swarms on the sea surface based on the open source 3D rendering engine OSG is designed and implemented.Firstly,the scene graph theory of OSG and the principle of fast Fourier transform FFT are studied.Based on osg Ocean,the framework of the 3D sea surface scene is designed,and the FFTW library and skybox loading method are used to realize the switching of the3 D effect of sea surface waves and the sea surface weather scene.Use the 3D modeling software3 DS MAX to design 3D models of unmanned ships and obstacles.Finally,a 3D simulation experiment is carried out on the proposed CAPT algorithm-based mission planning algorithm for unmanned ship swarms and the MPC-based unmanned ship path tracking control algorithm.The experimental results show that the designed 3D simulation software has a more realistic visualization effect,which meets the requirements of 3D scene visualization of unmanned ship swarms on the sea surface need. |
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