Study On Global Path Pl Anning And Intelligent Collision And Obstacle Avoidance Guidance Of Autonomous Sailboat

In the face of growing global energy problems,clean and renewable wind energy has attracted the attention of researchers.Unmanned ships powered by sails are of great application value in disaster warning,resource exploration and environmental monitoring.It can not only deal with the problem of traditional energy shortage,but also promote the development of intelligent Marine carrying equipment.The autonomous navigation of unmanned sailboats needs to solve various technical problems such as path planning,intelligent guidance and automatic control,so as to realize navigation tasks such as path tracking,collision avoidance,obstacle avoidance and feature manipulation.This thesis mainly studies the path planning and intelligent guidance of unmanned sailboats.In this thesis,the global path planning is studied,considering the long autonomous sailing distance.Three dimensional dynamic programming method is used to plan the shortest time route,and the influence of wind is considered in the planning process.Through grid construction,the continuous search area is discretized into equidistant grid points,so as to plan the navigation path and calculate the navigation time.Finally,the effectiveness of the algorithm in different scenarios is verified by simulation.Aiming at the intelligent guidance problem,this thesis proposes an unmanned sailing ship guidance algorithm based on the beetle antennae search optimization,which can successfully realize the multi-obstacle mixed collision avoidance and obstacle avoidance functions,solve the problem of multi-ship encounter,and finally complete the path tracking task.And the algorithm uses formulaic description,easy programming implementation.By using this guidance algorithm,the complex path tracking task can be transformed into the reference course tracking task.By controlling the heading Angle of the sail to converge to the reference course,the trajectory of the sail can converge to the reference path.The simulation test verifies the effectiveness of the guidance algorithm.The sailing ship can avoid collision and obstacle and realize path tracking.In this thesis,a 1.3m experimental ship model is built based on Maximoop ship model,and part of the real ship test is carried out to verify the feasibility of the path tracking guidance algorithm.The model ship test results show that the sailboat can realize the basic navigation function.The feasibility of path planning and path guidance strategy proposed in this paper is verified by comparing simulation results with ship model experiments.