Variable-ship-length-rate-based crosswind-resistant straight path tracking method of unmanned surface vessel

Abstract

The invention discloses a variable-ship-length-rate-based crosswind-resistant straight path tracking method of an unmanned surface vessel. In view of different influences on path tracking by different ship length rates, a variable-ship-length-rate-based straight path tracking method is put forward based on combination with fuzzy control. The range deviation and a changing rate of the range deviation are used as inputs of a fuzzy controller and the ship length rate is used as the output of the fuzzy controller; the ship length rate is adjusted dynamically, thereby adjusting a course angle to adjust LOS-principle-based input and output parameters of a PD controller of a tracking expected course angle alpha fai. Voltages of motors at the left side and the right side of the unmanned surface vessel are controlled, thereby realizing straight path tracking of the unmanned surface vessel in a water-surface crosswind environment. Besides, with a course correction and error compensation method, static error occurrence caused by path tracking in a crosswind environment is reduced and a straight path tracking effect of the unmanned surface vessel in an anti-interference environment is improved.

Description

[Technical field] [0001] The invention relates to an intelligent unmanned platform, in particular to a method for tracking a straight path of an unmanned surface craft resisting crosswinds based on a variable length ratio. [Background technique] [0002] Unmanned Surface Vehicle (USV), also known as surface robot, as one of the important tools for human development and utilization of the ocean, has received more and more of attention. At present, many countries in the world are carrying out research in the field of unmanned boats, among which Israel and the United States are in a leading position. In the 1990s, a large number of foreign unmanned boat research projects emerged, among which the typical representatives were the American "Spartan" and the Israeli "Protector". They not only have good performance in autonomous navigation and shore-based control, but are also equipped with peripherals such as navigation radar, camera, GPS, etc., which have strong application valu...

AI Technical Summary

Problems solved by technology

[0004] Although most of the existing linear path tracking methods for unmanned surface vehicles can achieve certain effects of autonomous path tracking, most of them limit the scope of use to ideal or unaffected environments. In the actual navigation of unmanned surface vehicles, It is inevitable to encounter wind and waves in the water surface environment. In this environment, the above methods all make the path tracking of the unmanned vehicle more or less lose its expected performance.

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