Research On Path Planning And Control Of Waterjet Propulsion Unmanned Surface Vessel

As a new tape of unmanned surface vessel,the waterjet propulsion unmanned surface vessel has some advantages such as flexible operation and high degree of intelligence.The application of it is more and more widely.But its motion system is under-drive system,with strong interference,model uncertainty and other characteristics which makes control research more difficultly.The research on this type of unmanned surface vessel not only helps to solve the control problem of general nonlinear system,but also helps to solve the practical engineering problems such as the control problems in the storm interference environment.Therefore,it is of great theoretical significance and practical value for the study of unmanned surface vessel.In this context,this paper focuses on the problem of motion control and path planning of waterjet propulsion unmanned surface vessel,and analyzes and studies its motion strategy,then designs the underactuated heading controller with robust performance and adaptive ability,further more,tests and verifies the path tracking control and path planning control of unmanned surface vessel by simulation.The good control effect is obtained.The main contents of this paper are as follows:Firstly,based on the maneuverability motion equation of a certain unmanned surface vessel,combined with the thrust mathematical model of the water jet propulsion,the initial motion control target model of the vessel is established.Considered that the underactuated characteristics existing in the ship navigating on the surface of water,the underactuated motion control equation of the water jet propulsion unmanned surface vessel is modeled,which provides the model basis for the follow-up study.Secondly,considered the situation that exists sea environment interference cased by wind and waves during the navigation of unmanned surface vessel,this paper studies the heading and speed control problem of water jet propulsion unmanned surface vessel,designs the feedback state disturbance observer,and completes the design of robust adaptive sliding mode heading control algorithm,including disturbance observer based on sliding mode control theory,and the simulation analysis is carried out.Thirdly,to solve the path tracking problem when unmanned surface vessel sailing in the sea,this paper designs a LOS sliding mode heading controller based on the robust sliding mode control algorithm,and proves its Lyapunov stability.the LOS sliding mode controller is designed and proved to be stable.The simulation results show that the proposed method can effectively complete the path tracking control of unmanned surface vessel with the situation of external interference.Finally,aiming at the problem of safe navigation control of unmanned surface vessel in the complex sea environment,the study of the global static path planning control and dynamic collision avoidance local path planning is carried out.Based on the electronic chart,the A-star algorithm combined with the grid method are used to set the global navigation path modeling and planning analysis,in order to realize the effective safety avoidance of the island and other static obstacles.Furthermore,based on the default collision avoidance rule,the dynamic local path correction problem of the unmanned surface vessels' navigation encounter is studied.After the dynamic simulation of the different attitude encounters,the sliding mode heading control designed in this paper can effectively realize the safety navigation control of unmanned surface vessel when existing interference disturbed by wind and waves.