Research on Bow Angular Trajectory Tracking Control Strategy of Unmanned Ship for Seawater Quality Detection
In order to improve the quality of aquatic products in deep-sea and long-distance ranches,intelligent unmanned ships need to solve the problem of trajectory deviation when performing water quality detection.Based on this,a fuzzy PID trajectory tracking control algorithm for unmanned ships based on heading angle control is designed.The target heading angle of the unmanned ship is calculated by the deviation of the relative position between the unmanned ship and the current target point.Based on the kinematic model of the unmanned ship,a fuzzy PID control method is established to control the difference in motor speeds on both sides of the unmanned ship,and then control the heading angle of the unmanned ship,so that it can walk along the planned path.The experimental results show that compared with classical PID,fuzzy PID performs better in bow control,with an average RNL(curve fitting goodness of fit)increase of 0.689 and a speed difference control increase of 1.033,providing an effective method for unmanned ships to travel accurately along the planned path.
intelligent unmanned shiptrajectory trackingsteer controlGoodness-of-fit of the curve
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