{"title":"基于GPS和雷达的自主无人水面舰艇","authors":"Hongyu Qu, Tian-Yu Ren","doi":"10.1109/ISAS59543.2023.10164429","DOIUrl":null,"url":null,"abstract":"In this paper, based on the principle of attachment coordinate system and Maneuvering Modeling Group modeling principle, the motion model is constructed. The fuzzy PID control algorithm is used to design the heading controller and the track point tracking algorithm. The motion model is simulated and designed to realize the track point tracking. The method of fuzzy inference is used to overcome the shortcomings of the traditional PID control that cannot modify the PID parameters online. At the same time, pre-processing of point cloud data and LIDAR-based obstacle detection are realized. Experimental results verify the accuracy of model design and the effectiveness of autonomous navigation control design.","PeriodicalId":199115,"journal":{"name":"2023 6th International Symposium on Autonomous Systems (ISAS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Autonomous Unmanned Surface Vessel Based on GPS And Radar\",\"authors\":\"Hongyu Qu, Tian-Yu Ren\",\"doi\":\"10.1109/ISAS59543.2023.10164429\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, based on the principle of attachment coordinate system and Maneuvering Modeling Group modeling principle, the motion model is constructed. The fuzzy PID control algorithm is used to design the heading controller and the track point tracking algorithm. The motion model is simulated and designed to realize the track point tracking. The method of fuzzy inference is used to overcome the shortcomings of the traditional PID control that cannot modify the PID parameters online. At the same time, pre-processing of point cloud data and LIDAR-based obstacle detection are realized. Experimental results verify the accuracy of model design and the effectiveness of autonomous navigation control design.\",\"PeriodicalId\":199115,\"journal\":{\"name\":\"2023 6th International Symposium on Autonomous Systems (ISAS)\",\"volume\":\"45 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 6th International Symposium on Autonomous Systems (ISAS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISAS59543.2023.10164429\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 6th International Symposium on Autonomous Systems (ISAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISAS59543.2023.10164429","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Autonomous Unmanned Surface Vessel Based on GPS And Radar
In this paper, based on the principle of attachment coordinate system and Maneuvering Modeling Group modeling principle, the motion model is constructed. The fuzzy PID control algorithm is used to design the heading controller and the track point tracking algorithm. The motion model is simulated and designed to realize the track point tracking. The method of fuzzy inference is used to overcome the shortcomings of the traditional PID control that cannot modify the PID parameters online. At the same time, pre-processing of point cloud data and LIDAR-based obstacle detection are realized. Experimental results verify the accuracy of model design and the effectiveness of autonomous navigation control design.