Shuangshuang Yu
ABSTRACT
Aiming at the obstacle avoidance problem in the path tracking process of Unmanned Surface Vessel (USV), this paper designs a USV path tracking safe navigation system. Firstly, a data acquisition, processing and transmission module is developed to collect and transmit the USV geographic position, heading attitude, speed, rudder angle and other data to the controller for calculation; Secondly, the controller is designed using the path tracking algorithm based on line of sight (LOS) algorithm and the local obstacle avoidance algorithm based on improved artificial potential field method; Then the position and heading angle errors are adjusted by feedback control; Finally, the path tracking and obstacle avoidance are verified by simulation experiments using Matlab, and the path tracking and safe navigation system control experiments are implemented on the self-developed USV. The experimental results show the effectiveness and reliability of the system.
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Index Terms
- Design and implementation of path tracking security system for unmanned surface vessel
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