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基于视线导引策略的无人艇航迹跟踪控制算法
引用本文:王潋,李烨,陈霄,罗荣,完颜娟,唐嘉钰. 基于视线导引策略的无人艇航迹跟踪控制算法[J]. 兵工学报, 2022, 43(Z2): 20-25. DOI: 10.12382/bgxb.2022.B008
作者姓名:王潋  李烨  陈霄  罗荣  完颜娟  唐嘉钰
作者单位:(1.91054部队, 北京 102442; 2.军事科学院, 北京 100091)
摘    要:为实现复杂海洋环境下无人艇对期望航迹的精确跟踪和安全航行控制问题,对目前用于无人艇航迹跟踪控制的视线导引策略进行了详细研究,可分为基于前视距离的视线导引策略和基于包围圈的视线导引策略两大类,并分析了两类算法各自的优缺点。建立无人艇数学模型,基于前视距离的视线制导策略和PID控制思想设计无人艇航迹跟踪控制算法。仿真实验结果表明:所提算法具有良好的航迹跟踪控制效果,可为现阶段我国无人艇自主航行控制技术的研究和无人艇装备建设提供参考。

关 键 词:无人艇  视线导引策略  航迹跟踪控制  PID算法  

USV Trajectory Tracking Control Algorithm of Based on the Line-of-sight Guidance Strategy
WANG Lian,LI Ye,CHEN Xiao,LUO Rong,WANYAN Juan,TANG Jiayu. USV Trajectory Tracking Control Algorithm of Based on the Line-of-sight Guidance Strategy[J]. Acta Armamentarii, 2022, 43(Z2): 20-25. DOI: 10.12382/bgxb.2022.B008
Authors:WANG Lian  LI Ye  CHEN Xiao  LUO Rong  WANYAN Juan  TANG Jiayu
Affiliation:(1.Unit 91054 of PLA, Beijing 102442, China; 2.Academy of Military Sciences, Beijing 100091, China)
Abstract:To realize the precise tracking and safe navigation control of the unmanned surface vehicle (USV) in the complex ocean environment, firstly, the line-of-sight (LOS) guidance strategy used in USV trajectory tracking control is studied in detail, and the algorithms are divided into two categories: LOS guidance strategy based on look-ahead distance and on encircling circle. Then, the mathematical model of the USV is built, and the USV trajectory tracking control algorithm is designed based on the LOS guidance strategy using the look-ahead distance and the PID control idea. Finally, the simulation results show that the proposed algorithm has good trajectory tracking control effects, which can provide insights into research on the autonomous navigation control technology and the construction of the USV equipment in China.
Keywords:unmannedsurfacevehicle   line-of-sightguidancestrategy   trajectorytrackingcontrol   PIDalgorithm
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