基于视线导引策略的无人艇航迹跟踪控制算法

doi:10.12382/bgxb.2022.B008

摘要/Abstract

摘要： 为实现复杂海洋环境下无人艇对期望航迹的精确跟踪和安全航行控制问题，对目前用于无人艇航迹跟踪控制的视线导引策略进行了详细研究，可分为基于前视距离的视线导引策略和基于包围圈的视线导引策略两大类，并分析了两类算法各自的优缺点。建立无人艇数学模型，基于前视距离的视线制导策略和PID控制思想设计无人艇航迹跟踪控制算法。仿真实验结果表明：所提算法具有良好的航迹跟踪控制效果，可为现阶段我国无人艇自主航行控制技术的研究和无人艇装备建设提供参考。

关键词: 无人艇, 视线导引策略, 航迹跟踪控制, PID算法

Abstract: To realize the precise tracking and safe navigation control of the unmanned surface vehicle (USV) in the complex ocean environment, firstly, the line-of-sight (LOS) guidance strategy used in USV trajectory tracking control is studied in detail, and the algorithms are divided into two categories: LOS guidance strategy based on look-ahead distance and on encircling circle. Then, the mathematical model of the USV is built, and the USV trajectory tracking control algorithm is designed based on the LOS guidance strategy using the look-ahead distance and the PID control idea. Finally, the simulation results show that the proposed algorithm has good trajectory tracking control effects, which can provide insights into research on the autonomous navigation control technology and the construction of the USV equipment in China.

Key words: unmannedsurfacevehicle, line-of-sightguidancestrategy, trajectorytrackingcontrol, PIDalgorithm

中图分类号:

TP242

王潋，李烨，陈霄，罗荣，完颜娟，唐嘉钰. 基于视线导引策略的无人艇航迹跟踪控制算法[J]. 兵工学报, 2022, 43(S2): 20-25.

WANG Lian, LI Ye, CHEN Xiao, LUO Rong, WANYAN Juan, TANG Jiayu. USV Trajectory Tracking Control Algorithm of Based on the Line-of-sight Guidance Strategy[J]. Acta Armamentarii, 2022, 43(S2): 20-25.

参考文献

［1］李伟, 徐轩彬, 郑振宇.世界无人艇技术研发动态与作战使用分析[J]. 舰船电子工程, 2022, 42(4): 4-7.
LI W,XU X B,ZHENG Z Y.Analysis on the development trend and operational use of USV technology in the world[J].Ship Electronic Engineering, 2022, 42(4): 4-7.(in Chinese)
[2］王宁, 王仁慧, 鲁挺. 推进器饱和约束的水面无人艇固定时间精准跟踪控制[J/OL]. 控制理论与应用: 1-9[2022-05-25]. http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1750.046.html.
WANG N,WANG R H,LU T.Fixed-time precision tracking control of an unmanned surface vehicle constrained by thruster saturations[J/OL].Control Theory & Applications：1-9[2022-05-25].http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1750.046.html.(in Chinese)
[3］王山丹, 孙梦薇, 刘剑,等. 固定时间预测器下的欠驱动无人艇航迹跟踪控制[J/OL]. 控制理论与应用: 1-9[2022-05-25]. http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1739.026.html.
WANG S D,SUN M W,LIU J,et al. Fixed-time predictor-based path following control of unmanned surface vehicles[J/OL]. Control Theory & Applications：1-9[2022-05-25]. http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1739.026.html.(in Chinese)
[4］赵俊波, 葛锡云, 周宏坤. 无人艇直线航迹跟踪算法优化设计[J]. 舰船科学技术, 2022, 44(3): 57-62.
ZHAO J B,GE X Y,ZHOU H K.Unmanned surface vehicle straight-lines path tracking algorithm optimization design[J]. Ship Science and Technology, 2022, 44(3): 57-62.(in Chinese)
[5］郭睿. 无人艇路径规划与航迹控制技术研究[D].镇江：江苏科技大学, 2021.
GUO R. Research on unmanned vehicle path planning and track control technology[D].Zhenjiang：Jiangsu University of Science and Technology,2021.(in Chinese)
[6］ FAN Y S, ZOU X P, WANG G F,et al. Robust adaptive path following control strategy for underactuated unmanned surface vehicles with model deviation and actuator saturation[J].Applied Sciences, 2022, 12(5): 2696-2797.
[7］ LIN M Z, ZHANG Z Q, PANG Y D, et al. Underactuated USV path following mechanism based on the cascade method[J]. Scientific Reports, 2022, 12(1): 138-151.
[8］ JIANG K Y, MAO L, SU Y M, et al. Trajectory tracking control for underactuated USV with prescribed performance and input quantization[J]. Symmetry, 2021,13(11): 111-135.
[9］栾天宇,张玉峰,张成伟, 等. 考虑扰动及模型不确定的无人船路径跟踪控制[J].电脑知识与技术,2021, 17(9): 223-226,233.
LUAN T Y,ZHANG Y F,ZHANG C W,et al. Path following control of USV considering disturbance and model uncertainty[J]. Computer Knowledge and Technology, 2021, 17(9): 223-226,233.(in Chinese)
[10］刘正锋, 张隆辉, 魏纳新, 等.限制区域水面无人艇路径规划与跟踪控制研究[J]. 船舶力学, 2021, 25(9): 1127-1136.
LIU Z F,ZHANG L H,WEI N X,et al. Study on path planning and following control of unmanned surface vehicles in restricted areas[J]. Journal of Ship Mechanics, 2021, 25(9): 1127-1136.(in Chinese)
[11］邹兰平. 欠驱动水面无人艇轨迹跟踪控制研究[D].湛江：广东海洋大学, 2021.
ZOU L P. Research on trajectory tracking control of underactuated surface unmanned vehicle[D]. Zhanjiang:Guangdong Ocean University，2021.（in Chinese）
[12］张广洁, 严卫生, 高剑. 基于模型预测控制的欠驱动AUV直线路径跟踪[J]. 水下无人系统学报, 2017, 25(1): 82-88.
ZHANG G J,YAN W S,GAO J. Straight line tracking of underactuacted AUV based on model predictive control[J]. Journal of Unmanned Undersea Systems, 2017, 25(1): 82-88.(in Chinese)
[13］ ZHU J, WANG J H, ZHENG T Q, et al. Straight path following of unmanned surface vehicle under flow disturbance[J]. IEEE Ocean, 2016, 32(3): 1-7.
[14］范云生, 郭晨, 赵永生, 等. 时变漂角下USV直线路径跟踪控制器设计与验证[J]. 仪器仪表学报, 2016, 37(11): 2514-2520.
FAN Y S,GUO C,ZHAO Y S,et al. Design and verification of straight line path following controller for USV with time-varying drift angle[J]. Chinese Journal of Scientific Instrument,2016, 37(11): 2514-2520.(in Chinese)
[15］ MOREIRA L, FOSSEN T L, SOARES G. Path following control system for a tanker ship model[J]. Ocean Engineering, 2007, 34: 2074-2085.
[16］陈志超, 薛圻蒙, 罗凯, 等. 基于改进LOS导航算法的智能船舶自动靠泊控制研究[J]. 中国航海, 2021, 44(2): 126-133.
CHEN Z C,XUE Q M,LUO K,et al. Intelligent automatic control of ship berthing with improved LOS guidance[J]. Navigation of China, 2021, 44(2): 126-133.(in Chinese)

第43卷增刊22022 年11月
兵工学报ACTA ARMAMENTARII
Vol.43Suppl.2Nov. 2022

[1]	李光保，高栋，路勇，平昊，周愿愿. 基于SSA-PID和卡尔曼滤波控制的发射筒充氮系统设计[J]. 兵工学报, 2022, 43(S2): 153-163.
[2]	徐同乐, 刘方, 肖玉杰, 王慎, 白一惠, 罗荣. 国外无人反水雷装备及技术发展[J]. 兵工学报, 2022, 43(S2): 64-70.
[3]	冯炜，崔东华，刘海晓，周末，赵江，李恒，胡志鹏. 反无人艇群弹药战斗部参数对效能影响分析[J]. 兵工学报, 2022, 43(S2): 26-31.
[4]	王亮，陈建华，李烨. 一种基于深度学习的无人艇海上目标识别技术[J]. 兵工学报, 2022, 43(S2): 13-19.
[5]	张成举，王聪，王金强，李聪慧. 欠驱动水面无人艇鲁棒自适应位置跟踪控制[J]. 兵工学报, 2020, 41(7): 1393-1400.
[6]	褚式新，茅云生，董早鹏，杨鑫. 基于极大似然法的高速无人艇操纵响应模型参数辨识[J]. 兵工学报, 2020, 41(1): 127-134.
[7]	骆福宇，曾江峰，艾宁. 无人艇非线性航迹鲁棒自适应跟踪控制[J]. 兵工学报, 2019, 40(12): 2519-2528.
[8]	曾江峰，万磊，李岳明，张英浩，张子洋，陈国防. 基于切换视线法的欠驱动无人艇鲁棒自适应路径跟踪控制[J]. 兵工学报, 2018, 39(12): 2427-2437.