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.
关键词
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
Key words
USV/simulation system/display control module/maneuverability motion model module/environment information module/navigation control module/obstacle avoidance module
维普
万方数据