Research On Path Planning And Path Following Control Technology Of Unmanned Surface Target

This paper takes unmanned surface target vehicle as the research object,studies the path planning and path following control technology of unmanned surface target vehicle when it is operating in the actual sea area,and puts forward a complete set of path planning and path following control technology system of unmanned surface target vehicle.In view of the particularity of unmanned surface target vehicle,this paper will study the mathematical model,mission environment information modeling,path planning and path following control technology and other aspects.The main work of this paper is as follows:Establish the mathematical model of the unmanned surface target vehicle and build a raster map of the task environment of the unmanned surface target vehicle Firstly,the global path planning model of the unmanned surface target vehicle is built by considering various situations comprehensively.In the case of considering environmental interference,the motion characteristics of the unmanned surface target vehicle are analyzed,and the mathematical model of the unmanned surface target vehicle is built.Then,the map model of the task area was constructed by grid method.The traditional ant colony algorithm was analyzed,and a path planning algorithm based on the improved ant colony algorithm was proposed.The initial pheromone is distributed unevenly to improve the initial search efficiency.The weight factor is introduced to improve the updating rules of pheromone and accelerate the convergence speed of the algorithm.A penalty factor is introduced to punish the last two steps of the pheromone trapped in the deadlocked path to ensure the diversity of ants and overcome the precocious convergence of the algorithm.According to the properties of the Marine environment is complicated,the design unmanned surface target vehicle path following control system technology,with vision algorithm as the core of guidance subsystem can be precise guide unmanned surface target vehicle along expected route,with fuzzy cascade PID controller as the core of control subsystem can effectively guarantee the unmanned surface target vehicle along the expected route,improve the navigation efficiency,enhance the robustness of the system.Through the comparison of simulation tests,the results show that the environmental modeling method proposed in this paper can effectively describe the environmental information of the mission sea area.On this basis,the proposed path planning algorithm improves the searching efficiency of the algorithm and can quickly find the optimal sailing path.On the basis of the path following control technology system,the unmanned surface target vehicle can sail along the expected course under the interference of sea wind,waves and currents with a small deviation,which verifies the feasibility and effectiveness of the path planning and path following control technology system designed for the unmanned surface target vehicle in this paper.