Research On Unmanned Ship Control System With Autonomous Obstacle Avoidance Function

With the exploration of the ocean in China,the unmanned ship on the water has received more and more attention.The drones are not just used for military surveys,but also for water rescue,garbage removal and festival performances.However,in terms of obstacle avoidance on the market,due to the complex situation on the water surface,it is not convenient for operators to enter the water surface area,so the unmanned ships will encounter obstacles in the water area and cannot avoid them in time.In order to solve this problem and meet the needs of operators,in this thesis,takes a small unmanned ship as the research object,designs and develops a miniature unmanned obstacle avoidance ship,and focuses on the development of an unmanned obstacle avoidance system based on embedded technology.Aiming at the design of unmanned ship,this thesis takes Raspberry Pi as the core to build an unmanned obstacle avoidance ship.The signal is transmitted by the upper computer to complete the control of the unmanned ship in the water.The radar sensor module and infrared sensor module are used to collect the information of obstacles,and the collected information is transmitted to Raspberry Pi.In this thesis,an anti-leakage module is designed to detect the leakage of the hull in real time.The image acquisition module and AP mode of Raspberry Pi wi-fi carry out video transmission and detect the implementation status of the unmanned ship in front through video transmission.In this thesis,the obstacle avoidance problem is studied.One radar sensor module and five infrared sensor modules realize the acquisition of obstacle information on the surface of the water,the distance of obstacle detection is realized through the radar sensor module,and the obstacle avoidance can be achieved by judging the obstacle orientation through the cooperation of the steering gear and the head.The infrared sensor module is used to collect the data of five azimuthal obstacles,and the response of different position sensors is used to judge the position of obstacles,and the Bug2 algorithm is used to avoid obstacles.In this thesis,the upper computer program development is carried out on the Eclipse platform.Remote monitoring and automatic manual mode switching are carried out on the unmanned obstacle avoidance ship through the upper computer.Image acquisition is carried out through the camera,and the video transmission of the unmanned ship is completed through wi-fi,so as to transmit the video to the upper computer in real time.In this thesis,in the laboratory and outdoor environment to unmanned ship test,the results show that the radar and infrared module to the obstacles of information collection,can stable to avoid obstacles,in the absence of serious on the surface of the block,unmanned ship within 30 meters can realize smooth instructions and video transmission,high frame rate can reach 30 FPS,the average frame rate of 24 FPS,achieve the desired effect.