Unmanned ship path tracking control method and system, storage medium and terminal

Abstract

The invention discloses an unmanned ship path tracking control method and system, a storage medium and a terminal. The unmanned ship path tracking control method comprises the steps of building a relative speed motion mathematical model of an unmanned ship in an ocean current interference state; generating a position tracking error of the unmanned ship based on the mathematical model and a virtualpoint tracking principle; based on the mathematical model and a sight line method principle, creating a self-adaptive sight line method guide law; and guiding the unmanned ship to track an expected path according to the position tracking error and the guide law. According to the unmanned ship path tracking control method and system, the storage medium and the terminal, the path tracking precisionis high, and a curve path can be tracked.

Description

technical field

[0001] The invention relates to the technical field of unmanned boat navigation control, in particular to a method, system, storage medium and terminal for path tracking control of an unmanned boat. Background technique

[0002] Unmanned surface vessel (USV) is widely used in marine production activities, especially in marine resource survey, water quality monitoring and sampling, sanitation and other aspects with outstanding advantages. Unmanned boats sailing in the ocean 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, but the existing path tracking control schemes for unmanned boats do not consider ocean currents. The influence of environmental force on the path tracking control of the unmanned vehicle, and it is difficult to directly track and control the arbitrary curved path of the unmanned vehicle. Therefore, it is urgent to propose a UAV path tr...

Examples

Embodiment approach 1

[0035] A method for path tracking control of an unmanned boat provided by an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Figure 1 to Figure 5 It is a flow chart of an unmanned boat path tracking control method according to an embodiment of the present invention. Specifically, see figure 1 , the unmanned boat path tracking control method of the example of the present invention mainly includes the following steps:

[0037] S1: Create a mathematical model of the relative velocity motion of the unmanned boat in the state of ocean current disturbance

[0038] In some examples, see figure 2 , step S1: creating a mathematical model of the relative velocity motion of the unmanned boat in the state of ocean current disturbance includes the following steps:

[0039] S11: Obtain the first target information of the unmanned vehicle

[0040] Wherein, the first target information includes the hydrodynamic...

Embodiment approach 2

[0108] An embodiment of the present invention also provides a system, which includes a module for executing the steps of the method for controlling the path of the unmanned boat in any one of the embodiments in the first embodiment. Those skilled in the art should understand that the system provided by the present invention has the same beneficial effect as the embodiment in the first embodiment, and details are not repeated here.

Embodiment approach 3

[0110] The embodiment of the present invention also provides a storage medium on which a computer program 11100 is stored, the storage medium is a computer-readable storage medium, and when the program is executed by the processor 12000, the steps of any one of the methods in the first embodiment are implemented . Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disk, optical disk, DVD, CD-ROM, microdrive, and magneto-optical disk, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory device , magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data. For the specific execution process, refer to the specific description of the method example in the first embodiment, and details are not repeated here.

[0111] Those skilled in the art should understand that the computer-readable storage medium provided by the present in...

technical field

[0001] The invention relates to the technical field of unmanned boat navigation control, in particular to a method, system, storage medium and terminal for path tracking control of an unmanned boat. Background technique

[0002] Unmanned surface vessel (USV) is widely used in marine production activities, especially in marine resource survey, water quality monitoring and sampling, sanitation and other aspects with outstanding advantages. Unmanned boats sailing in the ocean 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, but the existing path tracking control schemes for unmanned boats do not consider ocean currents. The influence of environmental force on the path tracking control of the unmanned vehicle, and it is difficult to directly track and control the arbitrary curved path of the unmanned vehicle. Therefore, it is urgent to propose a UAV path tr...

Examples

Embodiment approach 1

[0035] A method for path tracking control of an unmanned boat provided by an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] Figure 1 to Figure 5 It is a flow chart of an unmanned boat path tracking control method according to an embodiment of the present invention. Specifically, see figure 1 , the unmanned boat path tracking control method of the example of the present invention mainly includes the following steps:

[0037] S1: Create a mathematical model of the relative velocity motion of the unmanned boat in the state of ocean current disturbance

[0038] In some examples, see figure 2 , step S1: creating a mathematical model of the relative velocity motion of the unmanned boat in the state of ocean current disturbance includes the following steps:

[0039] S11: Obtain the first target information of the unmanned vehicle

[0040] Wherein, the first target information includes the hydrodynamic...

Embodiment approach 2

[0108] An embodiment of the present invention also provides a system, which includes a module for executing the steps of the method for controlling the path of the unmanned boat in any one of the embodiments in the first embodiment. Those skilled in the art should understand that the system provided by the present invention has the same beneficial effect as the embodiment in the first embodiment, and details are not repeated here.

Embodiment approach 3

[0110] The embodiment of the present invention also provides a storage medium on which a computer program 11100 is stored, the storage medium is a computer-readable storage medium, and when the program is executed by the processor 12000, the steps of any one of the methods in the first embodiment are implemented . Among them, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disk, optical disk, DVD, CD-ROM, microdrive, and magneto-optical disk, ROM, RAM, EPROM, EEPROM, DRAM, VRAM, flash memory device , magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data. For the specific execution process, refer to the specific description of the method example in the first embodiment, and details are not repeated here.

[0111] Those skilled in the art should understand that the computer-readable storage medium provided by the present in...

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