The Unmanned Boat Area Is Fully Covered In The Inner Lake Environment Path Planning And Experimental Research

Compared with traditional ships,Unmanned Surface Vehicles(USV)have the advantages of high flexibility,high level of safety and more intelligence,and play an important role in marine research.Since unmanned boats need to adapt to the navigation test in different environments,it is the next research focus to complete the set tasks in complex environments under the conditions of ensuring their normal navigation.The design of an unmanned boat that can be applied to the inland lake environment,can navigate autonomously,and can avoid obstacles autonomously under the planning of the full coverage of the regional path,constitutes the main research content of this paper.In this paper,an unmanned boat platform that can achieve full coverage of regional path planning in the inland lake environment is designed in this paper,designs its control system,optimizes the path planning methods,and builds the experimental platform to better optimize the engineering requirements for research on unmanned vehicles.The main research contents are as follows:(1)According to the actual parameters of the unmanned boat itself,the robot’s own linear motion mathematical model and response ship Nomoto control model are established,the control principle of traditional PID control algorithm and fuzzy PID control algorithm is analyzed,a simulation model is established in the Simulink module of Matlab software,the two control algorithms of the robot are compared and simulated,and the superiority of the fuzzy adaptive PID control algorithm designed in this paper is verified.The wind and wave interference model is introduced and added to the comparative simulation experiment,which further verifies the superiority of the control system designed in this paper.(2)Combined with the actual working environment,the environmental modeling of the regional full-coverage path planning is carried out,the path planning algorithm based on the traditional artificial potential field method is analyzed,and the defects of the traditional artificial potential field method,such as the unattainable goal and the tendency to converge to a local minimum,are analyzed and optimized are optimized and improved,and the comparative simulation experiment is carried out on the Matlab platform combined with the traditional artificial potential field method.Finally,the depth-first search algorithm is introduced and the improved artificial potential field method global path planning is combined to perform a fullcoverage area simulation experiment on the built grid environment map to verify the feasibility and superiority of the algorithm.(3)According to the final functions to be realized by the unmanned boat in this study,analyze the hardware performance indicators required for the realization of the functions and select the hardware,and select the hardware.Based on the characteristics of Pixhawk’s open source flight controller,the external hardware is assembled,the ground workstation is built,and the control system and the regional full-coverage path planning are verified theoretically and experimentally,using the assembled real ship.The performance of the fuzzy adaptive PID control algorithm designed in this paper and the superiority of the full-coverage path planning algorithm based on post-area coverage are verified,and the feasibility and practical applicability of the unmanned boat platform developed in the inland lake environment are verified.