Study On Autonomous Berthing Methods Of Unmanned Surface Vehicle

With the development of Unmanned Surface Vessel miniaturization,rapidness,automation,demand for its own ability,safety performance is higher and higher,since most no boat with many degrees of freedom,serious nonlinear underactuated system,and the environment is more complex,making no boat berthing manipulate will become one of the most difficult and the most complex manipulation;Rudder and propeller,and other general actuator is targeted at a constant heading and speed of design,but there is no boat berthing is affected by the low speed,shore,when you make the control more complex.According to statistics,70% of the docking accidents and drivers in the harbor of bad seamanship,therefore,to study the underactuated unmanned craft autonomous docking technology has important practical significance.Based on trajectory planning of unmanned boat berthing problem,explore the improved artificial potential field method based on constraint,the study of autonomous docking technology;Trajectory tracking problem for berthing,puts forward the improved fuzzy PID control algorithm,the terminal end under large disturbance trajectory tracking problems are studied;Finished the simulation and field test,the two methods in the application of independent unmanned boat berthing carried on the thorough analysis and research.Firstly,on the basis of predecessors’ no one boat plane motion mathematical model is established;Based on unmanned craft field Z type test data,using the least squares method to identify the unmanned boat heading control response equation,analysis of propeller voltage and speed,the relationship between the related parameters is obtained through the identification and establish the mathematical model.Secondly,the underactuated unmanned boat berthing contains many constraints,such as unmanned craft’s own movement,nearly obstacle constraints,dock at the end of the speed and heading,in this paper,trajectory planning is mainly divided into two parts: the far end of the terminal trajectory planning,terminal trajectory planning,consider two phase of the main influence factors,put forward improved artificial potential field method based on constraint handling,complete for berthing trajectory planning;Combining two stages of the practical problems in the trajectory planning,analyzed for unmanned boat heading control and speed control method of determining the fuzzy rules,this paper proposes a sectional improved fuzzy control method,a simulation contrast test was carried out.Finally,no one in the songhua river boat autonomous docking experiment,by comparing the different planning trajectory tracking result,verify the improved artificial potential field method based on constraint processing the reliability of the trajectory planning,trajectory tracking through the analysis of experiment results,verify the effectiveness of the controller has good control effect.