无人水面艇自主控制系统设计与试验研究

Design and Trial Research on the Autonomous Control System of Unmanned Surface Vehicle

设计一种高速无人水面艇自主控制系统,包括岸基和船载设备两大部分,两者通过大功率无线网桥进行控制及数据信号交流,具有自动控制和手动遥控两种控制模式,能够实现循目标点航行及自主规划路径航行。系统软件架构基于多Agent技术,航向航速协同控制采用模糊自适应算法,任务路径规划采用遗传-蚁群融合算法。开发无人艇自主控制系统试验研究平台,并在开阔水域进行了试验研究,包括航向航速模糊自适应控制算法试验、路径规划算法试验、自主航行功能试验,并进行相应的数据分析。试验表明,无人艇在任意初始航向航速和随机干扰的情况下都能顺利高效地到达目标点,以此为基础能成功实现自主规划路径航行。

Autonomous control system of a high-speed unmanned surface vehicle is designed. The system consists of land-based equipment and onboard equipment, and the exchange of control and data signal between the two parts can be realized with high powered wireless network bridge. There are two control modes in the system:automatic control and manual control, in this way target point navigation and autonomous path planning navigation can be achieved. The system software architecture is based on multi-agent technology, in which the fuzzy adaptive algorithm is used for the cooperative control between course and speed, and the genetic-ant colony algorithm is used for path planning. Unmanned autonomous control system trial platform is developed and tests are carried out in an open water area, including test of fuzzy adaptive control algorithm for course and speed, test of path planning algorithm and test of autonomous navigation function, as well as corresponding data analysis is performed. Test results show that under random interference circumstances, the USV can reach the target point smoothly and efficiently with any initial course and speed. Therefore, the autonomous path-planning navigation can be realized on this basis.