Research On Autonomous Obstacle Avoidance Navigation Control System Of USV Based On Artificial Potential Field

In order to adapt to the complicated marine environment and ensure the safety of the maritime personnel,USV has drawn more and more attention.The path planning is an important guarantee of USV's safety navigation.Path planning is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement.The path planning of USV is that the USV can effectively avoid the passing ships and obstacles,and search for the optimal path to reach the target point.Aiming at the problem,this paper focuses on the research of USV path planning algorithm based on improved artificial potential field to implement the function of obstacle avoidance.At the same time,this paper designs the structure and modules of the navigation control system in engineering application.This paper has finished certain useful research and got some new results as follows:(1)Aiming at the problem of USV path planning algorithm based on conventional artificial potential field,this paper solved the problem by the correction of potential function,the addition of the escape force and the step adjustment.Finally,the experiment is conducted under different conditions in order to test the improved artificial potential field algorithm,and the simulation results show the effectiveness of the algorithm.(2)In engineering application,this paper designs the structure of the navigation control system.The software is developed on the LABVIEW platform,which has realized the functions of the display of data,the operation control,electronic chart and so on.(3)The test work has been completed in the offshore environment,which realizes the function of the real-time data transmission,the remote control and online path planning.Finally,the simulation results show the effectiveness of the algorithm.