A polyline path tracking control system and method for an unmanned surface vehicle

Abstract

The invention discloses an unmanned surface vessel broken line path tracking control system and method. The control system comprises a data acquisition unit, a data processing unit, and a power control unit, the data acquisition unit is used for acquiring the longitude and latitude information and the heading angle of the unmanned surface vessel and outputting the information to the data processing unit; the data processing unit comprises a path tracking algorithm module and a motion control algorithm module, the path tracking algorithm module is used for calculating the deviation between theunmanned surface vessel and a preset path, and outputting the deviation to the motion control algorithm module, the movement control algorithm module is used for obtaining a control command accordingto the deviation between the unmanned surface vessel and the preset path, and transmitting the control command to the power control unit; and the power control unit controls the movement of the unmanned surface vessel. According to the invention, the linear path tracking of the under-actuated unmanned surface vessel can be realized, and the path tracking of the broken line can be realized, so thatthe unmanned surface vessel can meet the path tracking requirement in navigation practice.

Description

technical field [0001] The invention belongs to the technical field of intelligent unmanned boats, and relates to a polyline path tracking control system and method for an unmanned surface boat. Background technique [0002] An unmanned surface vehicle is an automated unmanned vessel based on remote communication technology and automatic control technology. It can replace humans to perform various tasks in complex ocean environments. Unmanned surface vehicles have the advantages of strong maneuverability, easy concealment, and can be carried on other ships. They can be used in search, rescue, surveillance, reconnaissance, detection, oceanographic mapping, and geological sampling. Path tracking is one of the key technologies to realize the automation and intelligence of unmanned surface vehicles. The realization of this problem is of great significance to the development of unmanned surface vehicle technology. [0003] In the past few years, the problem of tracking control o...

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Problems solved by technology

For example, the patent with publication number CN103760902A (publication date is April 30, 2014) discloses a linear path tracking method for unmanned surface vehicles based on fuzzy control. The heading angle can track any straight-line path, and avoid the large overshoot imagination and large detour phenomenon in the PID algorithm, but the method proposed in this patent does not consider the input saturation of the unmanned surface vehicle

Z.Zheng et al. (Z.Zheng and L.Sun,"Path following control for marine surface vessel with uncertainties and inputsaturation,"Neurocomputing) proposed a robust adaptive wireless neural network based on backstepping adaptive radial basis function. The path tracking control method of the human surface vehicle, which does not consider the tracking of the more practical irregular polyline path

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