Method, system, storage medium and terminal for unmanned vehicle path tracking control

Abstract

The invention discloses a path tracking control method, system, storage medium and terminal of an unmanned boat, wherein the path tracking control method of an unmanned boat includes the following steps: creating a relative velocity motion mathematical model of the unmanned boat in a state of ocean current interference Model; Generate the position tracking error of the unmanned ship based on the mathematical model and the principle of virtual point tracking; Create an adaptive line of sight law guidance law based on the mathematical model and the principle of line of sight; According to the position tracking error and the guidance The law guides the unmanned vehicle to track the desired path. The path tracking control method, system, storage medium and terminal provided by the invention have high path tracking accuracy and can track curved paths.

Description

Unmanned boat path tracking control method, system, storage medium and terminal technical field The present invention relates to unmanned boat navigation control technical field, relate in particular to a kind of unmanned boat path tracking control method, system, storage medium and terminal. Background technique

[0002] Unmanned surface vessel (USV) is widely used in marine production activities, In particular, it has outstanding advantages in marine resources survey, water quality monitoring and sampling, and sanitation. Unmanned sailing in the ocean Boats are often disturbed by environmental forces such as ocean currents, which will have a great impact on the path tracking control accuracy of unmanned boats. However, the existing path tracking control schemes of unmanned boats do not consider the current environmental force on the path tracking control of unmanned boats. It is difficult to directly track and control the arbitrary curve path of the unmanned vehic...

Examples

Embodiment approach 1

[0038] FIG. 1 to FIG. 5 are flow charts of an unmanned boat path tracking control method according to an embodiment of the present invention. specific,

[0047]

[0057]

[0060] Wherein, the line of sight method principle is Line-of-Sight, referred to as LOS. Its specific meaning is: the line-of-sight method is

[0068]

[0079] S42: Adjust the turning bow motion of the unmanned boat according to the heading controller and the desired heading angle

[0080] In some embodiments, the bow turning movement of the unmanned boat is performed by adjusting the rudder angle of the steering gear. technology in the field

[0082] In some embodiments, the adjustment of the longitudinal motion is performed by adjusting the rotational speed of the propeller. technology in the field

[0087]

[0088] where is the first derivative of the desired heading angle.

[0090]

[0093]

[0097]

[0100]

[0102] The dynamics controller (ie the heading controller and the speed controller) of the unman...

Embodiment approach 2

[0110] The embodiment of the present invention also provides a path tracking control system for an unmanned boat, and the system includes an implementation manner

Embodiment approach 3

[0112] The embodiment of the present invention also provides a storage medium on which the computer program 11100 is stored, and the storage medium is

[0113] Those skilled in the art should understand that the computer-readable storage medium provided by the present invention has and

Unmanned boat path tracking control method, system, storage medium and terminal technical field The present invention relates to unmanned boat navigation control technical field, relate in particular to a kind of unmanned boat path tracking control method, system, storage medium and terminal. Background technique

[0002] Unmanned surface vessel (USV) is widely used in marine production activities, In particular, it has outstanding advantages in marine resources survey, water quality monitoring and sampling, and sanitation. Unmanned sailing in the ocean Boats are often disturbed by environmental forces such as ocean currents, which will have a great impact on the path tracking control accuracy of unmanned boats. However, the existing path tracking control schemes of unmanned boats do not consider the current environmental force on the path tracking control of unmanned boats. It is difficult to directly track and control the arbitrary curve path of the unmanned vehic...

Examples

Embodiment approach 1

[0038] FIG. 1 to FIG. 5 are flow charts of an unmanned boat path tracking control method according to an embodiment of the present invention. specific,

[0047]

[0057]

[0060] Wherein, the line of sight method principle is Line-of-Sight, referred to as LOS. Its specific meaning is: the line-of-sight method is

[0068]

[0079] S42: Adjust the turning bow motion of the unmanned boat according to the heading controller and the desired heading angle

[0080] In some embodiments, the bow turning movement of the unmanned boat is performed by adjusting the rudder angle of the steering gear. technology in the field

[0082] In some embodiments, the adjustment of the longitudinal motion is performed by adjusting the rotational speed of the propeller. technology in the field

[0087]

[0088] where is the first derivative of the desired heading angle.

[0090]

[0093]

[0097]

[0100]

[0102] The dynamics controller (ie the heading controller and the speed controller) of the unman...

Embodiment approach 2

[0110] The embodiment of the present invention also provides a path tracking control system for an unmanned boat, and the system includes an implementation manner

Embodiment approach 3

[0112] The embodiment of the present invention also provides a storage medium on which the computer program 11100 is stored, and the storage medium is

[0113] Those skilled in the art should understand that the computer-readable storage medium provided by the present invention has and

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