无人水面艇路径规划与控制实验平台研究

Experiment Platform for Path Planning and Control of Unmanned SurfaceVehicle

针对无人艇路径规划与避障控制等功能在真实环境下系统验证和评估不足的问题,提出一种具备多种传感器和控制系统的无人滑行艇实验平台。文中所开发的实验平台集成激光雷达、深度相机、全球定位系统(global positioning system,GPS)、超宽带(ultra wide band,UWB)定位系统、陀螺仪等多种传感器,并采用基于机器人操作系统(robot operating system,ROS)和Free_RTOS操作系统的主控制器和底层控制器。该实验平台不仅包括滑行艇本身、感知系统、底层控制器和远程监控系统等,还包括上层定位算法、路径规划算法和执行器控制算法。文中以1艘装载了多种传感器的无人滑行艇为实验对象,搭建了包括建图、定位与远程监控的综合实验平台,并且进行了滑行艇导航实验,验证了路径规划和避障控制算法的有效性,可为无人艇的技术发展和应用提供一定的参考。

An experimental platform of an unmanned planning craft equipped with multiple sensors and control systems is proposed aiming at the insufficient system verification and evaluation of the path planning and obstacle avoidance control of the unmanned surface vehicle in real environment.The developed experimental platform integrates the LiDAR,depth camera,global positioning system(GPS),ultra wide band(UWB)positioning system,gyroscope and other sensors,and uses main controllers and bottom controllers based on the robot operating system(ROS)and Free_RTOS operating system.The experimental platform consists of the planing craft itself,the sensing system,the bottom controller and the remote monitoring system,including the upper positioning algorithm,the path planning algorithm and the actuator control algorithm.A comprehensive experimental platform including mapping,positioning and remote monitoring is built on the unmanned planning craft equipped with various sensors.The effectiveness of the path planning and obstacle avoidance control algorithm is verified by the navigation experiment of the planning craft.It is supposed to provide theoretical references for the technological development and application of unmanned surface vehicles.