Research on a course control strategy for unmanned surface vessel

Abstract

With the development of intelligent control and modern communication technology, Unmanned Surface Vessel (USV) will soon become another important unmanned platform after drones and unmanned vehicles. Unmanned vessel are easily disturbed by wind, waves and currents during navigation. Solving the problem of unmanned vessel's course keeping control during navigation has become one of the key technologies in the research of unmanned vessel. Aiming at the course control problem of the unmanned vessel in the course of navigation, this paper firstly carried out mathematical modeling and data analysis on the dynamic model of the experimental unmanned vessel, carried out related design simulations and experiments through the constructed model, and propose an optimal control strategy based on PID controller. On this basis, the accuracy and effectiveness of the control strategy proposed in this paper are verified through a simulation platform, which can ensure the course stability of the unmanned vessel during the navigation process. Key technologies such as UAV obstacle avoidance and coordination provide a theoretical basis.