Research On Control Technology Of A Modeling Of Unmanned Surface Vessel Based On RaspberryPi

A small modeling of unmanned surface vehicle is designed as a controlled autonomous navigation models,according to the unmanned surface vehicle.In the actual research,through the design of surface model,control study is an effective means of unmanned research directly.Instead of USV has independently to complete the assigned task route of the cruise,but because of the water environment is complex such as real-time ocean conditions,meet other factors of ship,unmanned boat forward fixed obstacles on the route,so the completion of the designated routes of cruise mission,unmanned boat to avoid some objects of active control.In these requirements,improve the robustness of the USV trajectory tracking control and accurate early warning and avoidance to achieve-the hottest research directions in the field of ship control.Through the study of similar model experiment,found that the hardware design is based on MCU as the core of the mainstream,along with the development of hardware technology,as the core controller of the system design has been slightly behind,the current highly touted Raspberry Pi as the core controller,design a new model of hardware system to deal with the complex simulation marine environment.The final selected for the project based on the ARM11 architecture Raspberry Pi as hypogynous machine control system development platform,the lower computer adopts Raspbian system based on Linux kernel,and the end is equipped with a containing Mti-G attitude sensor,APC802-43 wireless module,a new generation of hardware devices,DC servo drive MLD3820.Secondly,the control the system model of navigation environment is a 2.5m*2.5m the size of the artificial built experimental pool,the pool is placed a model for capturing position of the camera.In the end PC development of PC control software for real-time observation model visualization model speed / position,heading angle of state information and send the control command,the final completion of the experimental requirements.In this paper,control algorithm design,the sliding mode control algorithm based on the compensation angle,then according to the actual demand of environmental collision avoidance method of experimental environment,and then through the computer simulation experiment,the validity,validation of sliding mode control method based on collision avoidance finally,model design and construction,the physical simulation experiment of trajectory tracking control that proves that the sliding mode control algorithm and collision avoidance method is practical.