无人水面艇仿真系统设计与实现  

Design and implementation of USV simulation system

作　　者：胡辛明 张鑫[1] 钟雨轩[1] 彭艳青[2] 杨毅[1] 姚骏峰 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]中国人民解放军理工大学理学院,南京210007

出　　处：《上海大学学报（自然科学版）》2017年第1期56-67,共12页Journal of Shanghai University:Natural Science Edition

基　　金：国家自然科学基金资助项目(61673254;51675318);上海市自然科学基金资助项目(13ZR1454300);上海市科委能力建设资助项目(14500500400)

摘　　要：无人水面艇(unmanned surface vehicle,USV)的海上调试成本高、难度大、效率低.为了减少海上调试工作量,设计了仿真系统,规划了仿真流程,为无人水面艇控制系统的测试和分析提供了平台.该仿真系统包括5个模块:显控模块用于全局路径规划和综合信息监控;数据仿真模块模拟障碍检测传感器与位置和姿态传感器数据;障碍处理模块对检测数据进行预处理、栅格化、聚类和拟合,并对拟合后的动态障碍进行跟踪;导航和避障模块嵌入视线制导(line of sight,LOS)导航和椭圆聚类-碰撞锥推演的动态避障算法;运动控制模块采用广义预测控制-比例积分(generalized predictive control-proportion-integral-derivative,GPC-PID)串级控制方法.各个仿真模块具有独立性,可根据不同需求替换.仿真实验结果表明了该系统设计的正确性和合理性.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.

关 键 词：无人水面艇 仿真系统 全局路径规划 导航和避障 运动控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]