随着智能时代的来临，船舶的智能化、无人化逐渐成为工业界和学术界的关注重点，无人船（Unmanned Surface Vessel，USV）也随之应运而生。基于物联网技术，设计并实现了无人船智能航行控制的演示验证系统，该系统以STM32为主控核心；采用窄带物联网NB-IoT技术和AIS构建船-岸通信链路；采用多种传感器实现船舶自身和环境信息的智能感知；提出一种基于响应式禁忌搜索的PID参数自适应整定航迹控制算法，实现无人船的路径跟随功能；基于Android平台开发岸基支持中心显控软件，实现无人船远程操控、监测和数据共享功能。最后通过真实环境试验验证了系统设计的可行性和航迹控制算法的有效性。
With the advent of the intelligent era, the vessel's intelligent, unmanned gradually become the focus of industry and academia, Unmanned Surface Vessel also came into being. This paper designs and realizes the demonstration and verification system of unmanned ship intelligent navigation control based on the Internet of Things technology. The system uses STM32 as the main control core; uses the NB-IoT technology to construct the ship-shore communication link; adopts a variety of sensors to realize the intelligent perception of the ship itself and it's environment information, and a PID parameter adaptive tuning path control algorithm based on response taboo search is proposed to realize the path following function on unmanned Surface Vessel; use Android to develop shore-based support center display and control software, Man-ship remote control, monitoring and data sharing function. Finally, the feasibility of the system design and the effectiveness of the track control algorithm are verified by the real environment test.
2017,(): 149-152 收稿日期：2017-07-28
DOI：10.3404/j.issn.1672-7649.2017.12.031
分类号：U674
基金项目：江苏省大学生创新创业训练计划资助项目（201712679009Y）
作者简介：乔大雷(1980-),男,博士,高级工程师,主要从事智能船舶、物联网、软件工程等教学和科研工作
参考文献：
[1] 徐海祥, 冯辉. 船舶动力定位系统原理[M]. 北京: 国防工业出版社, 2016.
[2] FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. John Wiley & Sons, 2011.
[3] LAPIERRE L, SOETANTO D. Nonlinear path-following control of an AUV[J]. Ocean Engineering, 2007, 34(11): 1734-1744.
[4] LARRAZABAL J M, PEÑAS M S. Intelligent rudder control of an unmanned surface vessel[J]. Expert Systems with Applications, 2016, 55: 106-117.
[5] ROUT R, SUBUDHI B. Inverse optimal self-tuning PID control design for an autonomous underwater vehicle[J]. International Journal of Systems Science, 2017, 48(2): 367-375.
[6] 冀明, 卢京潮. 基于 Cortex-M4 的四旋翼飞行控制系统设计[J]. 计算机测量与控制, 2013, 21(7): 1816-1817.
[7] KAWAGUCHI S, FUKUYAMA Y. Reactive Tabu Search for Job-shop scheduling problems considering peak shift of electric power energy consumption[C]//Region 10 Conference (TENCON). IEEE, 2016: 3406-3409.
[8] 汪定伟, 王俊伟, 王洪峰, 等. 智能优化方法[M]. 北京: 高等教育出版社, 2007.
[9] OHTSU K, PENG H, KITAGAWA G. Design of a model-based autopilot system for course keeping motion[M]//Time Series Modeling for Analysis and Control. Springer Japan, 2015: 57-81.
