Intelligent path tracking control method of unmanned surface vehicle

Abstract

The invention discloses an intelligent path tracking control method of an unmanned surface vehicle, and belongs to the field of navigation control of unmanned surface vehicles. In the path tracking control process of the unmanned surface vehicle, firstly, an expected course angle of the unmanned surface vehicle is solved through an expected path point position and real-time positions of the unmanned surface vehicle according to a proposed adaptive radius sight line method, and then the solved expected angle is subjected to angle compensation according to a course deviation and an off-course distance, so that the unmanned surface vehicle obtains the optimal expected course angle. In a course control link, an adaptive intelligent fuzzy controller is designed, in a navigational speed controllink, a navigational speed resolver is designed firstly, the optimal navigation speed is solved in real time, and then a navigational speed controller based on integral S surface control is designed.According to the path tracking method, the optimal expected angle can be effectively solved, the expected angle can also be tracked at the optimal navigational speed, thus the unmanned surface vehiclegradually converges to an expected path, and path tracking performance of the unmanned surface vehicle is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of navigation control of unmanned boats, and in particular relates to an intelligent path tracking control method for unmanned boats on water surfaces. Background technique [0002] As an important marine intelligent equipment, unmanned boats have played an important role in seabed surveying and mapping, inspection of ocean platforms and offshore wind power plants, marine environment monitoring, and offshore reconnaissance and defense. In order to complete tasks accurately and efficiently, taking into account The under-actuation of USV and the influence of the complex and changeable ocean environment on its maneuverability have placed higher and higher requirements on the ability of the unmanned vehicle to follow the preset expected path. [0003] In the path tracking control strategy of the unmanned vehicle, the compound linear path tracking based on the preset waypoint can better meet the application requi...

AI Technical Summary

Problems solved by technology

Most of the existing path tracking control methods are based on Line-of-Sight (LOS) for guidance law design. However, since the radius of the LOS circle is a fixed value, when the yaw distance is large, it is easy to cause the convergence time to be too long. At the same time, generally there will be no The tracking speed of the manned boat is set to a fixed value, which increases the tracking time. In addition, because the accurate hydrodynamic coefficient of the unmanned boat is often difficult to obtain, the control method based on the mathematical model has great limitations

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