Design method for unmanned surface vehicle tracking controller

A path tracking and design method technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of poor portability, complex calculation, environmental impact, etc., and achieve simplified design process, simple calculation, and Highly transplantable effect

Inactive Publication Date: 2019-05-17
武汉欣海远航科技研发有限公司
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Problems solved by technology

[0005] Aiming at the deficiencies in the prior art, the present invention provides a design method for the path tracking controller of the surface unmanned boat, which solves the limitations of the mathematical algorithm of the existing surface unmanned boat path tracking controller, complex calculation, poor portability and Seriously affected by the environmen

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  • Design method for unmanned surface vehicle tracking controller
  • Design method for unmanned surface vehicle tracking controller
  • Design method for unmanned surface vehicle tracking controller

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0028] see Figure 1-2 , an embodiment of the present invention provides a technical solution: a method for designing a path tracking controller for an unmanned surface vehicle, which specifically includes the following steps:

[0029] S1. According to the task requirements of surface unmanned vehicle path tracking, first design the decision-making network, which can be trained to enable the decision-making network to obtain decision-making ability, and then d...

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Abstract

The invention discloses a design method for an unmanned surface vehicle tracking controller, and relates to the technical field of an unmanned surface vehicle tracking control technology. The method specifically comprises the following steps that: S1: according to unmanned surface vehicle tracking task requirements, firstly, designing a decision network, training to enable the decision network toobtain a decision capability, and designing an exploration function to explore an unmanned surface vehicle path tracking state; S2: designing a reward function, and obtaining the motion state of the unmanned surface vehicle through a state observation method. By use of the design method for the unmanned surface vehicle tracking controller, a deep reinforcement learning algorithm is adopted to train a deep convolutional neural network to serve as the unmanned surface vehicle tracking controller, the design process of the unmanned surface vehicle tracking controller is simplified, a neural network approaching form is favorably used for replacing mathematical derivation, in addition, the controller is automatically trained through a program, manual intervention is not required, calculation issimple, and transportability is high.

Description

technical field [0001] The invention relates to the technical field of unmanned boat path tracking, in particular to a design method for a surface unmanned boat path tracking controller. Background technique [0002] With the deepening of the intelligence of surface unmanned vehicles, the path tracking controller of surface unmanned vehicles is becoming more and more important. The traditional path tracking controller design method is based on mathematical calculation and analysis, which can prove the effectiveness of the algorithm in theory. , and efficient controller parameters can also be deduced. However, mathematical algorithms also have their inherent limitations, such as complex calculations, poor portability, and severe environmental impact. At the same time, reinforcement learning technology has been widely researched and applied in the fields of artificial intelligence, machine learning, and automatic control. , and is considered to be one of the core technologies...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
Inventor 马勇甘浪雄赵玉蛟何德林
Owner 武汉欣海远航科技研发有限公司
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