Path Planning Of Unmanned Surface Vehicle Based On Motion Model

In recent years,various countries around the world have paid more attention to marine resources and marine rights and interests,and they are increasing investment and development of marine resources.With the rapid development of science and technology in the fields of communications,navigation,artificial intelligence,etc.,the unmanned surface vehicle as an important intelligent carrying platform for monitoring marine environment and safeguarding marine rights has received sufficient attention and development.Path planning technology is one of the key technologies for the self-control of USV.Under the conditions of the actual navigation environment,this article combines the motion model of USV and adopts a variety of fusion algorithms to study the path planning of USV in barrier-free and with obstacles.This article first introduces the dynamic model and response model of USV currently commonly used.Select the second-order non-linear response model of USV as the research object,and use simulation to manipulate the test data,combine the recursive least squares algorithm and the recursive least squares algorithm with forgotten factor.And then recognizes the parameters of the response model.Based on the motion mathematical model of USV,the path planning is divided into two aspects: barrier-free and with obstacles.Under non-obstacles,if there is no constraint on course angle,the rudder angle and the bisection method to search the amidships time,simulate the motion trajectory of USV in advance in order to plan the feasible path;if there is constraint on course angle,the holding rudder and the amidships cannot be satisfied at one time,the manipulation of the rudder and one back to the rudder is used in combination with the geometric model analysis of the trajectory of the rudder.The time of holding the rudder and returning to the rudder until the planning path scheme that meets the distance and the requirements at the same time and the direction requires.In an obstacle environment,using simulation builds a voyage environment under multiple obstacles,and uses the A star algorithm to plan a shortest path from the starting point to the destination point.Then the key steering point near the obstacle is marked with the number,the path is divided with segments,starting from the starting point,each path refers to the fusion algorithm under the barrier-free object.And the plan is stepped in turn and the plan is selected from it.Whether in the environment of with obstacles or without obstacles,the above fusion algorithm can be used,which can finally plan the path to meet the requirements through simulation,and give the rudder angle and time a manipulation instructions.The path planning studied herein is feasible and reliable.