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无人水面艇自主航行控制仿真系统研究

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无人水面艇(unmanned surface vehicle,USV)具有系统复杂、试验区域受限、算法验证实艇效率低等问题,因此,设计一套无人艇仿真模拟系统,具备算法验证、任务推演、数据回放等功能,能加快开发速度,提高试验效率,降低试验成本.该仿真模拟系统集成了 5个模块:显控模块用于地图显示、全局航路规划和数据显示等;操纵性运动模型模块主要采用三自由度响应数学模型;环境信息模块主要实现对环境感知数据真实模拟;航行控制模块主要实现无人艇航路跟踪以及航向、航速精确控制;避障模块根据航行态势进行实时避障.该仿真系统中各模块之间相互独立,可进行模块的更换和参数设置,仿真试验结果表明,该仿真系统可以为自主航行算法开发和任务推演提供可靠的验证过程和结果.
Research on Simulation System of Autonomous Navigation Control of USV
Unmanned Surface Vehicle(USV)has such problems as complex system,limited test area and low efficiency of algorithm verification.Therefore,a set of USV simulation system is designed with al-gorithm verification,mission deduction,data playback and other functions,which can speed up develop-ment,improve test efficiency and reduce test cost.The simulation system integrates five modules:display control module for map display,global route planning and data display,etc.The maneuverability motion model module mainly adopts three degrees of freedom response mathematical model.The environment in-formation module mainly realizes the real simulation of environmental perception data.The navigation control module mainly realizes the route tracking and controlling of course and speed of USV.Obstacle avoidance module performs real-time obstacle avoidance according to navigation situation.Each module in the simulation system is independent of each other,and module replacement and parameter setting can be carried out.The simulation results show that the simulation system can provide reliable verification process and results for autonomous navigation algorithm development and mission deduction.

USVsimulation systemdisplay control modulemaneuverability motion model moduleenvironment information modulenavigation control moduleobstacle avoidance module

程宇、付悦文、李鲁

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海军装备部驻武汉地区第五军事代表室,武汉 430000

江苏自动化研究所,江苏 连云港 222000

中国船舶工业贸易有限公司,北京 100000

无人艇 仿真系统 显控模块 操纵性运动模型模块 环境信息模块 航行控制模块 避障模块

国家重点研发计划项目国家国防科技工业局资助项目

2021YFC309020JB120120004

2024

10.3969/j.issn.1002-0640.2024.01.008

火力与指挥控制
火力与指挥控制研究会,火力与指挥控制专业情报网

火力与指挥控制

CSTPCD北大核心
影响因子：0.312
ISSN：1002-0640
年,卷(期)：2024.49(1)
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