基于LOS导航算法的无人船路径跟踪控制  

Unmanned vessel path tracking control based on LOS navigation algorithm

作　　者：李少鹏 黄利华[1] 张磊[1] 高阳 LI Shao-peng;HUANG Li-hua;ZHANG Lei;GAO Yang(Wuhan Second Ship Design and Research Institute,Wuhan 430000,China)

机构地区：[1]武汉第二船舶设计研究所,湖北武汉430000

出　　处：《舰船科学技术》2024年第5期109-114,共6页Ship Science and Technology

摘　　要：为了解决无人船路径跟踪控制问题,提出基于视距导航算法(LOS导航算法)和模糊PID控制的自适应无人船路径跟踪控制方法。首先根据LOS算法将路径跟踪问题转化为航向控制问题,之后通过模糊PID控制算法进行无人船的航向控制。通过仿真表明所提出的算法路径跟踪精度高,横向偏移量小,跟踪路径平滑,对无人船的路径跟踪控制有一定的参考价值。In order to solve the path tracking control issue of unmanned vessel,an adaptive path tracking control al-gorithm based on line-of sight(LOS)navigation algorithm and fuzzy PID control is proposed。Firstly,thepathplanning problem is transformed into a heading control problem according to the LOS algorithm.Then the heading control of un-manned vessel is carried out by fuzzy PID control algorithm.Simulation results show that the proposed algorithm has high path following accuracy,small lateral offset and smooth tracking path,which have some reference value for the path track-ing control of unmanned vessel.

关 键 词：无人船 LOS 路径跟踪 PID 

分 类 号：U674[交通运输工程—船舶及航道工程]