Lidar-based Unmanned Ship SLAM Obstacle Avoidance Technology

Considering the particularity and complexity of the serve marine working environment,the progress of ocean engineering,ocean exploration,and ocean utilization was severely limited.The unmanned surface vessels(USV)as the high intelligent marine vehicles and platforms,could help us better develop and utilize the ocean resource.Whereas,the autonomous voyage is the key features of the intelligent USV,the location and path planning and navigation are the important links to USV autonomous voyage characteristics.Hence the simultaneous localization and mapping(SLAM)technology is introduced into the USV key technology research,with the help of the LiDAR,the USV could realize the mapping,locating,autonomous navigation and obstacle avoidance in practical environments.For the real-time location and mapping problem,the USV would operate with a LiDAR,and the Fast-SLAM algorithm based on Rao-Blackwellized particle filter(RBPF)would be utilized to carry out the USV global location and mapping task.Then the Dijkstra algorithm would be utilized to implement the USV global routing planning,and the TR(Trajectory Rollout)and DWA(Dynamic Window Approaches)algorithm would be taken as the local routing planning to guide the USV to avoid obstacles and arrive at the destination along the optimum routes.For this research,the open source robot operation system(ROS)and associated software packages are used as the USV autonomous navigation software platform.While the LiDAR,high-precision inertial measurement unit(IMU)and the USV servo driving encoder and controller are used as the USV hardware model.Taken full use of the hardware and software part,the USV SLAM and autonomous navigation and obstacle avoidance technology research and simulations could be carried out.Finally,based on the USV hardware and software platform,a set of open field tests for the proposed USV SLAM location technology and path planning,autonomous navigation and obstacles avoidance technology are carried out.The test results illustrate the validity of the proposed USV SLAM location,mapping and autonomous navigation and obstacles avoidance technology in this paper,and open up a new way of USV technology research.