水面无人艇路径控制技术  

The movement track and control technique of unmanned surface vehicle

作　　者：陈天宇[1] 杜广义 郭璇[2] CHWEN Tian-yu;DU Guang-yi;GUO Xuan(China ship scientific research Center,Wuxi 214001,China;Wuhan university of technolog,Wuhan 430070,China)

机构地区：[1]中国船舶科学研究中心,江苏无锡214001 [2]武汉理工大学,湖北武汉430070

出　　处：《舰船科学技术》2019年第23期133-139,共7页Ship Science and Technology

摘　　要：水面无人艇受风、浪、流的影响,因此对航行安全至关重要的实艇运动路径控制方法变得十分复杂。本文选取改造后的7 m小艇进行操纵性试验,测定操纵相关系数。基于实艇试验和数值仿真计算的结果,结合风、浪、流干扰模型,建立一套水面无人艇路径控制方法。最后进行了相应的实艇试验,验证了本文方法的有效性。The movement track and control technique of unmanned surface vehicle(USV)are so complicated by the wind,wave and current,that the control method is crucial for the navigation safety of the USV.A seven meters boat with advanced radar,optronics system,inertial navigation system was applied as the unmanned surface vehicle to finish the autonomous navigation test.Theoretically,the new motion control method in regard to the boat movement track based numerical simulation results,actual measurement results,and environment interference models.The results of full scale testing for the autonomous navigation can be applied for the unmanned surface vehicle intelligent operation.

关 键 词：无人艇 操纵性试验 路径控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]