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Unmanned ship trajectory tracking control method and device

A technology of trajectory tracking and control method, applied in non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve problems such as poor adaptability and compatibility of unmanned ship motion model, and achieve improved adaptability Effects of Sexuality and Versatility

Pending Publication Date: 2021-12-21
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0011] The purpose of this application is to provide an unmanned ship trajectory tracking control method and device, which can solve the technical problem of poor adaptability and compatibility of the existing unmanned ship motion models

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  • Unmanned ship trajectory tracking control method and device
  • Unmanned ship trajectory tracking control method and device
  • Unmanned ship trajectory tracking control method and device

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Embodiment Construction

[0056] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0057] Considering the existing path-following problems of unmanned ships, prior knowledge of the motion model of unmanned ships is generally required, which leads to a lack of training data and low universality of the model.

[0058] Therefore, in this example, an unmanned ship trajectory tracking control method is provided. This method ...

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Abstract

The invention provides an unmanned ship trajectory tracking control method and device, and the method comprises the steps: building an unmanned ship motion model, and simulating an interaction process between an unmanned ship and an environment through a built simulation environment; generating training data in the simulation interaction process of the unmanned ship motion model, and training the unmanned ship motion model through the training data to obtain an unmanned ship controller; and deploying the trained unmanned ship controller to a target unmanned ship, and correcting the algorithm neural network in the unmanned ship controller in the actual operation process of the target unmanned ship. According to the scheme, the problem that an existing unmanned ship model is poor in adaptability and universality is solved, and the technical effect of effectively improving the adaptability and the universality is achieved.

Description

technical field [0001] The present application belongs to the technical field of equipment control, and in particular relates to an unmanned ship trajectory tracking control method and device. Background technique [0002] At present, unmanned systems such as unmanned vehicles and drones are developing rapidly, but the development of unmanned ships is relatively backward. However, with the complexity of the marine environment and the increasingly important monitoring of marine resource development, intelligence has become the development trend of ships. Compared with traditional ships, fully autonomous unmanned ships can be more flexible, safe and efficient to adapt to various civilian and military applications. Application scenarios. In the civilian field, unmanned ships can provide all-weather marine environment monitoring, large-scale maritime search and rescue, and maritime transportation. , all-weather delivery of goods, and the formation of temporary water bridges an...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 乔媛媛曹晓静宁苒君杨洁
Owner BEIJING UNIV OF POSTS & TELECOMM
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