用于USV的运动控制系统 目标点收点收点
Jian Zhou1, Hui Zhang1, Kai Liu1
1School of Information and Automation Engineering, Qilu University of Technology, Shandong Academy of Sciences, Jinan 250300, China.
Sensors (Basel, Switzerland)
|October 26, 2024
概括
本研究引入了一种用于无人地面车辆 (USV) 的新型运动控制系统,用于精确的点对点跟踪和动态定位. 该系统增强了航向控制和路径跟踪准确性,在具有挑战性的海洋环境中.
科学领域:
- 海洋机器人 海洋机器人
- 控制系统工程 控制系统工程
- 海军建筑海军建筑.
背景情况:
- 无人驾驶地面车辆 (USV) 需要先进的控制来实现自主操作.
- 精确的运动控制对于动态定位和路径跟踪等任务至关重要.
- 现有的USV控制系统在动态环境和精确机动方面面临着挑战.
研究的目的:
- 开发和验证用于无人地面车辆 (USV) 的强大的运动控制系统.
- 为了实现USVs的精确点对点跟踪,定向控制和动态定位能力.
- 为了提高USV的性能,在路径的准确性和在不利条件下保持站点方面.
主要方法:
- 设计用于使用微控制器的USV的硬件和软件平台.
- 为无人船开发动力学和动力学模型.
- 实施差分转向控制方法,用于曲率角度跟踪和级联PID控制器,用于方向和路径跟踪.
- 在动态定位部分引入了一种用于推力分布的自调整机制.
主要成果:
- 拟议的控制系统证明了对所需的曲折角的跟踪效率有所提高.
- 通过级PID控制器实现了保持航向和跟踪路径的更高准确性.
- 自调节机制提高了推力分布的灵活性和在模拟风浪条件下保持定位的准确性.
- 实验验证证了开发的运动控制系统的有效性.
结论:
- 建立的运动控制系统有效地实现了USV的点对点跟踪和动态定位.
- 不同方向盘和级联PID控制的整合显著提高了USV的机动性和准确性.
- 开发的系统提供了一个可行的解决方案,用于在复杂的海洋环境中对无人驾驶水面车辆的先进自主导航.
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