水面无人艇环形轨迹跟踪方法研究与实现  

Research and implementation of circular trajectory tracking method for unmanned surface vehicle

作　　者：宋吉广 李德隆[1,2] 林扬 刘肖宇[1,2] 谷海涛 SONG Ji-guang;LI De-long;LIN Yang;LIU Xiao-yu;GU Hai-tao(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169

出　　处：《舰船科学技术》2021年第9期112-116,共5页Ship Science and Technology

摘　　要：为提高无人航行器对轨迹的实航跟踪能力,结合航行器运动特性,提出势点跟踪算法,实现对典型航迹(环形轨迹)的稳定跟踪。以无人水面艇(Unmanned Surface Vehicle,USV)作为验证平台,基于拟合偏差的最小二乘航向辨识,获得系统数学模型,并设计相应的控制律,在搭建好仿真平台后,针对无人水面艇控制特性设计相关控制策略及制导律,完成势点跟踪算法的设计及仿真验证。后经典型海况下多航次试验,经过对实航轨迹及USV与环形轨迹间距离变化规律分析,并结合数据均方根大小,表明了环形轨迹跟踪方法设计的合理性。In oder to improve the real-track tracking ability of the unmanned vehicle on the trajectory,combined with the motion characteristics of the vehicle,apotential point tracking algorithm is proposed to relize the typical track(circular trajectory).The unmanned surface vehicle is taken as the verification platform,and the mathematical model of the system is obtain ed based on the least square course identification of fitting deviation,and the corresponding control law is designed.After the simulation platform is built,relevant control strategies and guidance laws are designed for the control characteristics of unmanned surface vehicle,and the design and simulation verification of potential point tracking algorthm are completed.After the multi-voyage test under typical sea conditions,the real track and the distance between unmanned surface vehicle and circular trajectory are analyzed,and the data root-mean-square size is combined to show the rationality of the design of circular trajectory tracking method.

关 键 词：辨识 势点跟踪算法 制导律 环形轨迹跟踪 均方根 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]