Positioning And Obstacle Avoidance And Path Planning Of Unmanned Feeding Vessel In Shrimp And Crab Aquaculture Pond

In recent years,an artificial culture of shrimp and crab has gradually become a hot spot,but the cost of manual feeding has increased year by year,and other automatic feeding methods cannot meet the coverage and uniformity of shrimp and crab feeding.Therefore,this article intends to study an unmanned feeding vessel,focusing on the three key technologies of positioning,obstacle avoidance and path planning of the feeding vessel to meet the shrimp and crab feeding needs.First,the positioning technology of unmanned feeder is studied,and the unified algorithm of GPS and IMU sensor time reference is designed to improve the accuracy of the positioning algorithm.The longitude and latitude coordinates obtained by GPS were solved into rectangular Cartesian coordinates by Gauss-Kruger projection transformation,and the plane coordinate system of the breeding pond was established.Secondly,to realize the obstacle avoidance function of the feeding boat,a depth map was formed by a binocular camera.There are different obstacle avoidance rules for the two types of obstacles in the pond.If the obstacle in front of the feeding boat is determined to be a small obstacle in the pond,the feeding boat is controlled to bypass the obstacle.If it is determined to be a shore-based obstacle,the feeding boat is controlled.Turn around and enter the next feeding interval.Finally,design the path planning algorithm for the unmanned feeding vessel.The feeding vessel measures the pond temperature and dissolved oxygen content by carrying a temperature sensor and a dissolved oxygen sensor.According to the growth of the shrimp and the feeding coefficient,Determine the feeding density,then calculate the operating parameters of the feeding machine,further calculate the feeding interval width,and provide parameters for the path planning algorithm design.Aiming at the growth characteristics of shrimp and crab,a two-stage path planning algorithm is designed for shrimp and crab growth.For the early stage of cultivation,shrimp and crab are spread throughout the pond.According to the different shapes of the pond,a dressing reciprocating traversal covering path planning algorithm and an uninterrupted spiral path planning algorithm is used.For shrimp and crab clustered in multiple regions in the later stage of breeding,the simulated annealing genetic algorithm was improved and applied to the planning of the sub-area connection path in the late stage of shrimp and crab breeding.The design of the overall plan for obstacle avoidance and path planning for the unmanned feeding vessel was finally completed.To verify the effectiveness of the positioning,obstacle avoidance and path planning of the unmanned feeding vessel studied in this paper,the following three experiments were performed.Repeated positioning accuracy and relative positioning accuracy experiments were carried out by a ground mobile robot equipped with a feeding vessel positioning system.Thus,the effectiveness of the positioning algorithm for the feeding ship is verified;the pictures of obstacles in front of the feeding ship are obtained through a binocular camera and a depth map is formed to determine the distance between the hull and the obstacle.The effectiveness of the obstacle avoidance algorithm of the feeding boat was verified through field tests.The actual path planning of the breeding pond was carried out so that the feeding boat could follow the preset trajectory scheme.The bait can cover a predetermined area.The validity of the path planning algorithm studied in this paper is verified.In the end,the unmanned feeding vessel studied in this paper can meet the shrimp and crab feeding needs.