河蟹养殖无人作业船路径跟踪算法研究  

Research on Path Tracking Algorithm of Unmanned Ships in River Crab Culture

作　　者：管凯 赵德安[1] 洪剑青[1,2] GUAN Kai;ZHAO De-an;HONG Jian-qing(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China;Zhenjiang Technical College,Zhenjiang 212013,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013 [2]镇江市高等专科学校,江苏镇江212013

出　　处：《软件导刊》2019年第10期78-81,共4页Software Guide

基　　金：江苏省自然科学基金项目(BK20170536);江苏省自然科学基金青年基金项目(BK20170536);江苏省海洋与渔业科技创新与推广项目(Y2017-36);江苏省重点研发(现代农业)计划项目(BE2017331);江苏省镇江市2017年度科技创新资金(重点研发计划—现代农业)项目(NY2017013)

摘　　要：河蟹养殖无人作业船能解决人工养殖成本高、效率低等问题,提高渔民收益。河蟹养殖无人作业船自动导航作业的关键是路径跟踪,传统的纯追踪算法行驶路径只包含直线作业与岸边曲线转弯作业,不能满足作业船的自主循迹(自动导航)需求。为此针对预先规划的路径,研究了改进的纯追踪算法。通过试验对该导航控制算法进行验证,结果表明,无人作业船在以50cm/s的速度行驶并转弯半径为5m时,最大路径跟踪误差可以控制在0.1m以内。In order to solve the problems of high labor cost and low efficiency in crab farming,an unmanned boat for crab farming is urgently needed to liberate labor force and improve fishermen's income.Path tracking is the key to the automatic navigation of the crab farming unmanned ship.Aiming at the fact that the operation path of the crab farming ship only includes straight line operation and bank curve turning operation,this paper improves the traditional pure tracking algorithm to satisfy the autonomous tracking(automatic navigation)operation of the crab farming ship.Taking Tianbao LGR-BD9821 receiver,RTK working mode station PDL,12V/450W DC brush motor and ARM9 control version as the main hardware equipment,the improved pure tracking algorithm is used for the pre-planned path,and the navigation control algorithm is verified by crab experiment.The test results show that the maximum path tracking error can be controlled within 0.1 m when the vehicle runs at a speed of 50 cm/s and the turning radius is 5 m.

关 键 词：无人作业船 自动导航 路径跟踪 纯追踪算法 

分 类 号：TP312[自动化与计算机技术—计算机软件与理论]