无人艇自主避障算法设计与仿真

文章针对无人艇全局路径规划航线上可能存在未知静态障碍物,影响其安全航行的问题,提出加装超声波传感器和罗盘,分别用于测量无人艇航行过程中与障碍物的距离信息和偏航角,作为无人艇运动控制器的输入。同时设计了包含岸基和船载的无人艇运动控制系统,采用模糊控制算法实现自主避障功能,依靠专家经验制定无人艇运动控制规则,依据航速和传感器探测距离设计隶属度函数,Matlab仿真路径有效避开了障碍物,得到了安全的航行路径,验证了算法有效性。

Design and simulation of autonomous obstacle avoidance algorithm for unmanned vessels

Aiming at the problem that there may be unknown static obstacles on the route of unmanned boat global path,affecting its safe navigation,the paper proposes to install ultrasonic sensors and compasses to measure the distance information and obstacles of obstacles during the navigation of unmanned vessels. The voyage angle serves as the input to the unmanned boat motion controller. At the same time,the unmanned boat motion control system including shore and ship is designed. The fuzzy control algorithm is used to realize the autonomous obstacle avoidance function. The expert control is used to formulate the unmanned boat motion control rules. The membership function is designed according to the speed and sensor detection distance. Matlab The simulation path effectively avoids obstacles and obtains a safe navigation path,which verifies the effectiveness of the algorithm.