Unmanned light boat motion control method based on fuzzy support vector machine algorithm

Abstract

The invention discloses an unmanned light boat motion control method based on a fuzzy support vector machine algorithm and belongs to the technical field of motion control. Navigation data and external environment data of an unmanned light boat are collected and then divided into training data and testing data that are subjected to preprocessing operation, and a separation threshold value for preprocessing results is searched. Whether the quantity of the training data is greater than or equal to the threshold value is determined; if yes, a particle swarm algorithm is adopted for the training data; if no, a grid search algorithm is adopted; optimal configuration parameters are obtained for verification and simplification. Preprocessed testing data is input; if the data is linearly separable, the data is input into a fuzzy support vector machine so as to obtain an optimal decision surface; if the data is not linearly separable, the data is mapped to a high dimension space, and training operation is performed to obtain the optimal decision surface. Environment disturbing force data of a boat body is divided into the training data and the testing data, output of the fuzzy support vector machine is obtained, and a motion environment is compensated with the output. Via the method, unmanned light boat motion effects can be improved, and deviation generated due to environment interference can be effectively reduced.

Description

technical field [0001] The invention belongs to the technical field of motion control, and relates to the speed and course control of an unmanned boat, in particular to a motion control method for an unmanned boat based on a fuzzy support vector machine. Background technique [0002] The unmanned boat is a surface unmanned carrier platform with autonomous navigation capabilities. It was first used during World War II. The original design purpose was to clear mines or remove obstacles in offshore areas. There has been no significant development. With the rapid development of high-tech, unmanned boats have also received attention: due to their small size, fast response, high sensitivity, and the ability to efficiently complete more complex tasks, they play an important role in civil and military operations. Value. At present, many scholars have published relevant literature on the research on the motion control of unmanned boats. The main research methods include: classic PI...

AI Technical Summary

Problems solved by technology

[0007] For the existing fuzzy support vector machine, the speed of finding the optimal parameters is slow, which makes the whole system take a long time to obtain the model in the case of a large amount of data, which affects the motion of the unmanned ship system; at the same time, for the motion of the unmanned ship The problem of low prediction accuracy in the process

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