Design And Implementation Of Information Network And Control System Of Small Unmanned Surface Vehicle

The unmanned surface vehicle(USV)plays an increasingly important role in marine scientific research and homeland security defense for more than ten years due to its advantages of small size,light weight,fast response,abundant boat type and diversified propulsion.With the rapid development of modern communication technology and computer technology,USV will surely develop towards the path of intelligentization,information and standardization.Therefore,having a stable real-time information network,accurate and fast control system as well as rapid and precise decision-making ability are essential performance requirements for USV.With the increasingly complex tasks of USV and the unstructured environment,the requirements for real-time decision-making ability of USV are getting higher and higher.The performance of intelligent decision-making of USV is an urgent problem to be solved.The capabilities of data collection and information flow in USV systems are prerequisites for correct decision making.Therefore,this thesis has carried out the following research work on the development of information control system of USV:Firstly,the research on the design of USV control system was carried out based on the theory of cyber-physical system and Pixhawk UAV flight control technology.The selection of hardware equipment was carried out for the different functions of the unmanned sub-systems and communication methods.The communication methods consist of TCP/IP network communication,MAVLink-based shore-USV communication,serial communication of NMEA0183 protocol,etc.This thesis interconnected the devices into an information network topology system by selecting appropriate connection methods and communication links which achieves the organic combination of different functional modules and different communication methods.Secondly,this paper combines the navigational state sensing and optical visual information sensing technology to achieve the interaction between the USV system and the environmental information;Besides,the waypoint controller of USV is designed based on the cascade PID control and LOS algorithm,and the obstacle avoidance behavior of USV is designed based on the artificial potential field method and the optical visual environment sensing technology.Finally,the simulation environment is built and a small twin-hulled USV test prototype platform is set up based on the research results.The information network control system of USV is tested through the simulation and the lake experiment.And the test results show that the information network system designed have a stable and accurate information interaction capabilities,control system with fast and accurate control performance,which provides a good technical reference for the development of low-cost,high-performance USV.