Research On Autonomous Navigation And Obstacle Avoidance Of Energy USV Based On SLAM

Unmanned Surface Vessel(USV),as an intelligent ocean carrier and tool,can help people better utilize the ocean in complex water environments.Simultaneous localization and Mapping(SLAM)technology can provide real-time environmental and location information for autonomous navigation of USV,which is a prerequisite for the autonomous navigation and obstacle avoidance of USV.As an important feature of USV intelligence,autonomous navigation also requires us to conduct in-depth research on USV positioning and path planning technology.This article attempts to introduce SLAM technology into USV,enabling USV to achieve mapping,positioning,autonomous navigation,obstacle avoidance,and other functions using Lidar sensors.Firstly,this paper adopts the Open Source Robot Operating System(ROS)and its related software packages as the software platform for autonomous navigation research of USV.The hardware system comprises a Lidar,a high-precision inertial navigator,and a low-level encoder and controller.In terms of hardware,this article also considers energy efficiency in the marine environment,using intelligent control driven by integrated wind,wave,and energy storage.It mainly proposes a novel breeze energy storage and wave energy conversion device to fully obtain renewable energy,improve the storage capacity of power supplies,and meet the energy requirements of equipment such as control and acquisition during the operation of USV.The hardware system construction and energy efficiency design of the USV provide a research platform and energy supply for its subsequent SLAM technology and navigation obstacle avoidance.Secondly,in terms of location,this article uses the RBPF-based Gmapping algorithm and the graph-optimized Cartographer algorithm to obtain the location and mapping information of USV,and analyzes the mapping results.Then,USV uses the A * path planning algorithm to achieve global path planning in the map,and use the Dynamic Window Approaches(DWA)method to achieve local planning of USV.Ultimately,USV can avoid obstacles and follow the optimal route to their destination.Finally,based on the above software and hardware platforms,this paper conducts multiple simulation scenarios testing experiments on USV SLAM technology and navigation obstacle avoidance technology using USV equipped with Lidar.The experimental results also verify the feasibility of the USV SLAM positioning technology and path planning,navigation,and obstacle avoidance technology used in this paper,providing new ideas for future research on USV technology.