Research On Water Quality Sampling System With Unmanned Surface Vehicles Based On Autonomous Path Planning

Unmanned surface vehicle(USV)is widely used in water quality monitoring.According to the requirements of water quality monitoring,USV needs to satisfy the autonomous planning of multi-point water extraction routes.However,the traditional path planning algorithms of USV have some limitations in multi-objective planning,such as constraints of obstacle and water environment modeling.To solve these problems,a water quality sampling system for USV with autonomous path planning is designed based on the improved rapid extended random tree algorithm(RRT).Then the Dijkstra algorithm is used to optimize the water extraction path.Through the modular design of the water quality sampling system with USV,the autonomous path planning of USV for the multi-point water extraction is realized.After experimental verification,the system can achieve the function of multi-point water extraction as expected.The main research contents of this paper are as follows:(1)Scheme design of USV with water quality sampling system.Aiming at the requirements of autonomous water extraction function for multiple objective points,the scheme of USV with water quality sampling system is designed,which includes three subsystems of ship borne control system,water acquisition control system and land-based control system.(2)Design of the path planning algorithm of multi-objective point water extraction based on improved RRT.Considering that the path planning of multi-point water extraction has two constraints,obstacle avoidance and water collection,this paper realizes the autonomous path planning of multi-point water extraction based on the improved RRT algorithm,and uses the Dijkstra algorithm to optimize the water extraction path to realize the generation and optimization of the path of multi-point water extraction for USV.(3)Design of software and hardware platform for water quality sampling system of USV.Based on the design of the algorithm,USV with water quality sampling system is modularized,which is divided into three subsystems of shipboard control,water extraction control and land-based control.(4)Experimental verification.Based on building water quality sampling system for USV,functional tests such as unmanned surface vehicle navigation and water extraction,and verification of the path planning algorithms of multi-point water extraction were conducted in a certain water area in Jiangsu.Experiments show that USV with water quality sampling system can achieve multi-point water extraction as expected,which further verifies the stability of the system.