Research On Beidou Navigation And Optical Obstacle Avoidance System For Unmanned Surface Vessel

With the further development of people’s exploration of earth,the exploration methods are constantly enriched.In the work of water detection,Unmanned Surface Vessel(USV)has been recognized by all walks of life for its flexible control performance and good adaptability to the environment.Autonomous Navigation and autonomous obstacle avoidance technology in the technology of USV have always been the focus of research.An USV with autonomous navigation and autonomous obstacle avoidance capabilities can effectively help people complete various surface operations and bring great benefits to people.This paper mainly focuses on the autonomous navigation of USV and the autonomous obstacle avoidance technology based on Lidar.The main research contents are as follows:First,by reading a large number of documents,this article reviews the research status of USV and laser radar at home and abroad.This paper introduces the principles of Beidou navigation system,laser radar ranging methods,and related data processing algorithms.Secondly,the USV autonomous navigation and autonomous obstacle avoidance algorithms are designed.In this paper,a vector-based unmanned navigation algorithm is designed.The navigation algorithm designed in this paper introduces a correction vector to ensure that the USV can return to the scheduled route when it deviates from the route.The obstacle avoidance algorithm for USV was designed.The safe passage area was obtained through the cluster analysis of the LIDAR point cloud data,and the USV’s obstacle avoidance angle was calculated based on the current operating state of the USV.Then the simulation code was written in Python,and the simulation of navigation and obstacle avoidance algorithm designed by this project was verified.Then,the hardware and software design and implementation of the USV system were completed,including the design and implementation of the hardware circuit and software of each USV shipborne system;the design and implementation of the USV ground station,including route planning and database management.Data visualization and other functions;design and implementation of the message server,used to complete the remote data and instruction interaction between unmanned and ground station software.Finally,a water surface experiment was carried out by the USV in this research area carrying the USV autonomous navigation and obstacle avoidance system designed by this project.The ground station software designed by this project was used to display the data,and the experimental data was explained and analyzed.