节点文献
河蟹养殖无人作业船路径跟踪算法研究
Research on Path Tracking Algorithm of Unmanned Ships in River Crab Culture
【摘要】 河蟹养殖无人作业船能解决人工养殖成本高、效率低等问题,提高渔民收益。河蟹养殖无人作业船自动导航作业的关键是路径跟踪,传统的纯追踪算法行驶路径只包含直线作业与岸边曲线转弯作业,不能满足作业船的自主循迹(自动导航)需求。为此针对预先规划的路径,研究了改进的纯追踪算法。通过试验对该导航控制算法进行验证,结果表明,无人作业船在以50cm/s的速度行驶并转弯半径为5m时,最大路径跟踪误差可以控制在0.1m以内。
【Abstract】 In order to solve the problems of high labor cost and low efficiency in crab farming,an unmanned boat for crab farming is urgently needed to liberate labor force and improve fishermen’s income. Path tracking is the key to the automatic navigation of the crab farming unmanned ship. Aiming at the fact that the operation path of the crab farming ship only includes straight line operation and bank curve turning operation,this paper improves the traditional pure tracking algorithm to satisfy the autonomous tracking(automatic navigation)operation of the crab farming ship. Taking Tianbao LGR-BD9821 receiver,RTK working mode station PDL,12 V/450 W DC brush motor and ARM9 control version as the main hardware equipment,the improved pure tracking algorithm is used for the pre-planned path,and the navigation control algorithm is verified by crab experiment. The test results show that the maximum path tracking error can be controlled within 0.1 m when the vehicle runs at a speed of 50 cm/s and the turning radius is 5 m.
【Key words】 unmanned boat; automatic navigation; path tracking; pure tracking algorithm;
- 【文献出处】 软件导刊 ,Software Guide , 编辑部邮箱 ,2019年10期
- 【分类号】TN96;S969
- 【网络出版时间】2019-05-27 15:33
- 【被引频次】2
- 【下载频次】89