无人船安全目标追踪与自动避障算法

Safe Target-tracking Algorithm With Obstacle Avoidarlce for Unmanned Ship

摘要:

设计了无人船安全目标追踪算法和双回路追踪以及自动避障控制策略,内回路是控制无人船安全目标追踪并与目标保持一定安全距离,通过Lyapunov函数证明了该控制算法的渐近稳定性;外回路是无人船在安全距离内发现障碍,将目标点虚拟化,运用模糊控制原理,实现自动避障;优化传统的Dijkstra算法,设计了无人船实时最短路径算法;仿真结果表明,提出的综合算法能够实现无人船以合理速度通过最短距离,顺利避障,兼顾了时间效率。

Abstract:

A safe target-tracking and obstacle avoidance control system for unmanned ship is proposed in this paper. Target-tracking law in the inner loop controls the ship to track the predetermined target by reducing the posture error to zero and its stability is analyzed by using Lyapunov function method after the tracking time efficiency is also taken into account. When any obstacle is detected with ultrasonic sensors,the external loop provides a modification on the target position based on the fuzzy control algorithm. Based on djkstra algorithm,the improved shortcut algorithm of unmanned ship has been proposed. The reliability of this improved control system has been verified based on modeling and simulation of automatic collision avoidance with Matlab and VB6.0.