Aiming to the challenge of ship autonomous navigation,this paper presents the design and development of a ship-shore-beacon integrated experiment system for autonomous navigation,which is based on the microcontroller unit of STM32.The system consists of 3 functional modules including ship path indictors,onboard perceiving unit,and navigation controller.In the vicinity of each way point on the path,the trial maneuvering trajectory is predicted and the executed rudder angle is executed based on PID control algorithm to enhance the accuracy of turning.The entire experiment system and its feasibility and practicality were examined and validated via autonomous sailing test,which benefits the next generation of in-telligent navigation system.
关键词
航行智能控制/船岸标一体/实验系统/STM32微控制器/PID控制
Key words
intelligent navigation control/ship-shore-beacon integration/experiment system/STM32 microcon-troller unit/PID control
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