无人水面艇仿真系统设计与实现

doi:10.3969/j.issn.1007-2861.2016.07.019

Abstract

Abstract:

Offshore commissioning for unmanned surface vehicle (USV) is costly, difficult and inefficient. To reduce the workload of sea tests, a simulation system is designed for test and analysis of USV control systems, and a simulation process is programed. The simulation system includes five modules. The display and control module is used for global path planning and comprehensive information monitoring. The data simulation module simulates data of sensors for obstacle detection and positioning. The obstacle process module preprocesses, rasterizes, clusters and fits the detected data, and tracks moving obstacles. The navigation and obstacle avoidance module is made of line of sight (LOS) and an elliptical clustering-cone deduction algorithm. The cascaded generalized predictive control-proportion-integral-derivative (GPC-PID) method is used in the motion control module. Every simulation module is independent, and can be switched according to different requirements. The simulation results show that the described design of the simulation system for USV is accurate and reasonable.

Key words: navigation and obstacle avoidance , global path planning , motion control, simulation system , unmanned surface vehicle (USV)

HU Xinming1, ZHANG Xin1, ZHONG Yuxuan1 PENG Yanqing2, YANG Yi1, YAO Junfeng1. Design and implementation of USV simulation system[J]. Journal of Shanghai University（Natural Science Edition）, 2017, 23(1): 56-67.

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Design and implementation of USV simulation system

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