欠驱动USV自主航行控制算法研究

Research on autonomous navigation control algorithm for under-actuated USV

为保证复杂海洋环境下欠驱动无人艇的安全航行控制,设计了一种具有航迹实时规划和动态跟踪能力的无人艇自主航行控制算法。首先,基于激光雷达的高精度环境探测能力,借鉴向量场直方图算法设计的基本原理提出了一种新的航迹实时规划算法;然后,基于无人艇三自由度运动学和动力学模型,利用视线法导引和输出反馈控制方法设计了航迹跟踪控制算法,并给出了系统的稳定性分析。理论分析和仿真实验结果证明:所设计的自主航行控制算法能够成功实现未知海洋环境下的安全航迹实时规划和航迹动态稳定跟踪功能。

In order to ensure the safe navigation of under-actuated USV in complex marine environment, an autonomous navigation control algorithm for real-time planning and dynamic tracking capability is designed. Firstly, based on the high-precision environment detection capability of laser radar, a new real-time planning algorithm of track is proposed using basic principle of vector fiele histogram algorithm for reference. Then based on the model of USV 3-dof kinematics and dynamics, line of sight guidance and output feedback control methods are adapted to design the path tracking control algorithm, and the stability of the system is given. Theoretical analysis and simulation experiments show the autonomous navigation control algorithm can achieve the unknown ocean environment security track planning and steady real-time track following.