无人艇的目标跟踪策略研究

Research on Target Tracking Strategy of Unmanned Craft

无人艇对水面航行目标的跟踪,考虑实际出现的各种情况,根据无人艇在跟踪过程中与目标的相对位置关系和航速等,对应不同的无人艇控制策略。在进行船舶的控制过程中要考虑到航速和航向角不能突变,控制航速航向渐进变化。采用模糊控制进行航速控制,利用几何关系计算出航向,同时增大数据更新频率,增加算法使用次数,保证算法实现的效果最优。将航速航向的输出结果添加风、浪、流的干扰,添加干扰后计算得到无人艇的位置,最终经过仿真验证跟踪的效果。

The tracking of the navigation targets on the surface of the water surface by the unmanned craft, considering the actual situation, the relative position relation and speed of the unmanned craft to the target in the course of the tracking, corresponding to the different control strategies of the unmanned airship. in the process of ship control, we should take into account that the speed and heading angle can not be changed and control the gradual change of speed and heading. The speed control is carried out by fuzzy control, the course is calculated by geometric relation, and the frequency of data updating is increased, the number of use of the algorithm is increased, and the effect of the algorithm is best. The disturbance of wind, wave and flow is added to the output of the speed course, and the position of the unmanned yacht is calculated after adding interference. Finally, the effect of the tracking is verified by simulation.