Design And Implementation Of USV Path Planning And Real- Time Monitoring Platform

The USV is an unmanned intelligent platform that can carry a variety of sensing devices or work tools.In recent years,Research on USV has received much attention,and it has not only been widely used in the military,but has also become popular in civil field.USV can be remotely operated or autonomously navigated.They are widely used in various places that are not suitable for human work and perform some dangerous tasks.Therefore,the research on the real-time monitoring platform of USV will have important practical significance.At present,the related software development of USV real-time monitoring platform is costly,cumbersome to operate,and the cost of software maintenance and upgrade is expensive.Therefore,the goal of this paper is to develop real-time monitoring platform for USV with low cost,simple operation,convenient use and basic functional requirements.Before the design of the monitoring platform,this paper combined with the analysis of the functional requirements of the USV real-time monitoring platform,the implementation process of each functional module is discussed in detail and provide a solution path for the problems that arise.This paper adopts the modular design idea,and divides the monitoring platform into feedback information display module,ship trajectory tracking module,online path planning module and real-time video monitoring module.Among them,the online path planning module involves the key algorithm of USV path planning.This paper uses the improved ant colony algorithm to realize the global path planning of USV.This article expresses the design of each functional module in a programmatic way.Among them,the Qt Creator integrated development environment is used to realize the interface design and layout of the real-time monitoring platform,and the Baidu map is embedded in the map window to complete the loading and scaling of the map.The development of the feedback data communication protocol is completed,and the background program is written to realize the data packet parsing and the processing of the data anomaly.After the serial port data is collected,the USV pose information can be fed back in real time on the monitoring interface.Based on the Qt and html interaction technology,combined with the results of MATLAB simulation about improved ant colony algorithm,and through the Baidu API drawing function to achieve the USV path planning and real-time trajectory display.Among them,the key steps of the USV path planning(grid method environment modeling,coordinate transformation,redundant node deletion)are discussed in detail,and the real-time video surveillance function of the USV is realized by streaming media playback.After the design of the monitoring platform is completed,the functional modules are tested to verify the functionality of the monitoring platform.Analysis of the monitoring platform test results shows that the platform meets the established functional requirements and can be applied to the real-time monitoring of USV.