面向水质监测的无人艇岸基控制系统的设计与实现

Design and Implementation of Shore-based Control System for Unmanned surface Vehicle Using for Water Environmental Monitoring

摘要:

针对传统水质监测方法存在的取样效率低、覆盖率差、耗时费力等问题，设计开发了一种自动水质监测无人艇及其岸基控制系统，以实现目标水域内的多点及区域自动、连续采样任务。结合水环境监测的任务要求和无人系统的组成架构，设计并搭建了监测无人艇测试平台及岸基控制系统；开展了无人艇多任务路径规划算法的研究，提出了基于安全性考虑的出入港路径规划方法（SIA*）和开阔水域下的区域遍历巡航路径规划算法；在算法设计的基础上，结合水质监测的自动化需求开展了无人艇监测任务流程的设计。试验结果表明，出入港路径规划在安全性上提升了约1.82倍，区域巡航规划实现了对任务水域的100%全覆盖，能够满足水质监测无人艇的实际采样要求。

Abstract:

Aiming at the shortcomings of traditional water monitoring methods, such as low sampling efficiency, poor temporal and spatial coverage, time-consuming and labor-consuming, a task-oriented automatic water monitoring unmanned surface vehicle (USV) and shore-based control system have been designed and developed, which can realize automatic and continuous sampling tasks at multiple points and regions in the target water area. According to the task requirements of water environment monitoring and the structure of the unmanned system, an unmanned surface vehicle test platform and it’s shore-based control system are designed and built. On the basis, the research on the multi-task path planning algorithm of USV is carried out, and the safety path planning method （SIA*）considering the constraints of environmental obstacles and the traversal search planning algorithm for sampling in open water are proposed. Based on the algorithms, combined with the automation requirements of water monitoring, the monitoring task process for the USV is designed. The test results show that the safety of the path planning is improved by about 1.82 times, and the regional cruise planning has achieved 100% full coverage of the task water area, which can meet the practical monitoring requirements of the sampling USV.