Human-simulated intelligent control method for autonomous region keeping of water-jet propulsion unmanned ship

Abstract

The invention provides a human-simulated intelligent control method for autonomous region keeping of a water-jet propulsion unmanned ship, which is characterized in that analysis and calculation for a key parameter are performed on parameters measured by a position and attitude sensor used for controlling the boundary, a region keeping judgment system judges whether region keeping is required to be performed or not according to a calculated value and an actual value of the key parameter, a deviation equation of an under-actuated water-jet propulsion unmanned ship motion equation and a region keeping stop position trajectory equation is solved if region keeping is required to be performed, data information is transferred to a human-simulated intelligent controller, and the human-simulated intelligent controller determines a region keeping control strategy according to a regulated variable, the deviation and the variation trend of the deviation and implementing the region keeping control strategy through an execution mechanism. The human-simulated intelligent control method is applicable to the fields of region marine search and rescue and exploitation technologies and the like, and can ensure the unmanned ship not to be away from the specified region no matter how the unmanned ship moves.

Description

technical field [0001] The invention relates to a control method for an unmanned boat, in particular to a humanoid intelligent control method for keeping the autonomous area of ​​the unmanned boat. Background technique [0002] The water jet propulsion unmanned surface vehicle (USV) is a kind of sea intelligent motion platform that can safely and autonomously navigate in the actual ocean environment and complete various tasks. It can be equipped with sensors and communication devices. With the characteristics of good stealth, flexible maneuvering, and automatic driving, it is suitable for performing tasks such as detection research, shallow water surveying and mapping, ocean search and rescue, and oceanographic research in various harsh environments, without the risk of casualties. The unmanned vehicle system is an underactuated, large-disturbance, fast-changing, multi-input and multi-output nonlinear coupling system. For the underactuated system, due to the lack of lateral...

AI Technical Summary

Problems solved by technology

The autonomous area maintenance methods are all implemented on the basis of dynamic positioning, and the main application objects are large ships with multiple propulsion devices, and there is no autonomous area maintenance method for small unmanned boats with a single propulsion device.

Therefore, in the public literature at home and abroad, there is no relevant report on the autonomous area maintenance control method of the unmanned vehicle

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