Research On The Collision Avoidance Control Of Unmanned Surface Vessel With Information Fusion

With the development of unmanned system,as an all-around tool for executing the navigational task,Unmanned Surface Vehicle(USV)has received great attention.In this paper,taking the Lanxin USV of Dalian Maritime University as the research object,considering the maneuverability constraints,the dynamic collision avoidance tracking control of USV has been researched in complex environment.Firstly,based on the actual navigation environment of USV,the electronic navigational chart(ENC)and radar image is preprocessed for perceiving the static and dynamic obstacles.The two types of image information are matched and superposed by Hausdorff algorithm.The fusion of heterogeneous information in USV navigation environment is realized,and the navigation environment model for path searching is established.Secondly,the nonlinear mathematical model of the Lanxin USV is established.On the basis of the model,the real-time dynamic collision avoidance and tracking control are combined.The velocity decomposition method is adopted for dynamic collision avoidance.By real-time analyzing the relative motion vector relationship between the USV and obstacles,the method implements dynamic collision avoidance for obstacles.On the premise of the path of collision avoidance and the maneuverability constraints,a nonlinear collision avoiding and tracking controller based on Backstepping is designed.In the design process,the differential expansion problem is eliminated by using dynamic surface.Finally,the simulation platform of USV dynamic avoidance tracking control is built.During the simulation process,the real-time obstacle avoidance tracking control of single dynamic obstacle,multi dynamic obstacles and based on navigation environment perception is simulated and verified.The simulation results show the feasibility and effectiveness of the dynamic autonomous collision avoidance tracking control of USV in the dynamic perception ocean environment model.It provides a theoretical basis and simulation method for collision avoidance and tracking control of USV.