A Design Of Autonomous Surface Vehicle For Monitoring And Detecting Application

Autonomous Surface Vehicle (ASV) has the advantages of unmanned, miniaturized and intelligentized. It becomes a hot area of research in both academics and engineering technology for its broad application prospects in water quality monitoring, pollution source tracking and underwater target detection. Currently, Most existing water quality monitoring vehicles on the market used GPS single point positioning. The positioning accuracy is limited so that it main remote-controlled, the autonomous navigation function is not perfect. In this paper, we designed an ASV to achieve water quality monitoring and underwater target detection. The ASV used BD2 RTK positioning technology, which greatly improved the positioning accuracy. Meanwhile, we designed control algorithm and path planning method for navigation autonomous. It made the autonomous vehicle more intelligent and advanced.The main works of our research are as follows:(1) We developed a high-performance ASV.①Based on BD2 carrier phase differential measure technology, the position accuracy is 1 to 2 centimeters and direction accuracy is 0.2 to 0.3 degree. Consequently, it laid a solid foundation for autonomous navigation.②The ASV in this dissertation has double power system, they are underwater propeller and wind rotor. The double power system guarantees the power stability of the ASV. The propeller is the main power and the wind rotor is the auxiliary power. The double power system improves the maximum sailing velocity of the ASV. And when the ASV is running aground or breaking down, the auxiliary power can ensure normal sailing.③On the basis of video obstacle avoidance, the ASV in this dissertation has the function of microwave radar detection. It can detect the distance and velocity of the obstacles. So the ASV has powerful function of autonomous obstacle avoidance. ④The ASV in this dissertation combined the ultra-short wave communication with BD short message communication to make a double channel communication. When the ASV is out of range of the ultra-short wave communication,the remote monitoring center can control the ASV by BD short message communication. It maintains to keep in touch with the ASV.(2) We proposed a path planning method for surface mobile base station based on voronoi theory (the invention patent has been published). When applied to the data collection of surface wireless sensor networks, the ASV act as a mobile base station. We proposed a path planning method for surface mobile base station based on voronoi theory. First generate candidate set of path based on voronoi theory, then form a optimization path in the form of concentric circles from the inside out. The path can not only collect data of all sensors, but can also decrease energy consumption of communication.