基于GPS和雷达的自主无人水面舰艇

Hongyu Qu, Tian-Yu Ren
{"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}
引用次数: 0

摘要

本文基于附着坐标系原理和机动建模组建模原理,建立了机器人的运动模型。采用模糊PID控制算法设计航向控制器和航迹点跟踪算法。仿真设计了运动模型,实现了轨迹点的跟踪。采用模糊推理的方法克服了传统PID控制不能在线修改PID参数的缺点。同时,实现了点云数据的预处理和基于激光雷达的障碍物检测。实验结果验证了模型设计的准确性和自主导航控制设计的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
A new type of video text automatic recognition method and its application in film and television works H∞ state feedback control for fuzzy singular Markovian jump systems with constant time delays and impulsive perturbations MMSTP: Multi-modal Spatiotemporal Feature Fusion Network for Precipitation Prediction Digital twin based bearing fault simulation modeling strategy and display dynamics End-to-End Model-Based Gait Recognition with Matching Module Based on Graph Neural Networks
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1