水面无人艇控制器设计与避碰试验

Controller design and collision avoidance experiment of unmanned surface vehicle

针对传统无人艇通信距离短,功能少的问题,设计一种新的无人艇航行控制器。首先在试验用的无人艇上搭载并调试好各种通信和控制设备,然后在VS2017环境中编写控制程序,使之具备实现岸站与无人艇的通信、数据采集、下达运动控制指令等功能,并在无人艇上装备航海雷达,在航行过程中不断扫描水域环境,提取附近的障碍物信息。最后进行拖曳水池试验和湖试,验证无人艇的操纵性能和所编程序的有效性。试验结果表明,利用所设计的无人艇控制器及编写的程序能实现无人艇自主航行,并采取合理的措施避让障碍物,在软件地图中可以显示无人艇的运动轨迹。

In order to solve the problem of short communication distance and few functions for the traditional unmanned surface vehicle(USV),a new USV controller is designed.Firstly,various communication and control equipment needed are installed on the experimental USV,and debugging the functions of each part.Then the control program for the USV is written and compiled in the VS2017 environment so that the software can achieve the functions of communication between the shore station and the USV,data acquisition and giving motion control commands,and the nautical radar on the USV scans the water environment and provides information about nearby obstacles while the USV is sailing.Finally,towing tank testing and lake testing were conducted to verify the manoeuvrability of the USV and the effectiveness of the written program.The testing results show that the designed USV controller and the corresponding control program together can fulfil the basic requirements for the autonomous navigation of the USV,and it can take reasonable measures to avoid obstacles,and display the motion trajectory of the USV in the software map.