为提高无人航行器对轨迹的实航跟踪能力，结合航行器运动特性，提出势点跟踪算法，实现对典型航迹（环形轨迹）的稳定跟踪。以无人水面艇（Unmanned Surface Vehicle, USV）作为验证平台，基于拟合偏差的最小二乘航向辨识，获得系统数学模型，并设计相应的控制律，在搭建好仿真平台后，针对无人水面艇控制特性设计相关控制策略及制导律，完成势点跟踪算法的设计及仿真验证。后经典型海况下多航次试验，经过对实航轨迹及USV与环形轨迹间距离变化规律分析，并结合数据均方根大小，表明了环形轨迹跟踪方法设计的合理性。
In oder to improve the real-track tracking ability of the unmanned vehicle on the trajectory, combined with the motion characteristics of the vehicle, apotential point tracking algorithm is proposed to relize the typical track(circular trajectory). The unmanned surface vehicle is taken as the verification platform, and the mathematical model of the system is obtain ed based on the least square course identification of fitting deviation, and the corresponding control law is designed. After the simulation platform is built, relevant control strategies and guidance laws are designed for the control characteristics of unmanned surface vehicle, and the design and simulation verification of potential point tracking algorthm are completed. After the multi-voyage test under typical sea conditions, the real track and the distance between unmanned surface vehicle and circular trajectory are analyzed, and the data root-mean-square size is combined to show the rationality of the design of circular trajectory tracking method.
2021,43(9): 112-116 收稿日期：2020-09-14
DOI：10.3404/j.issn.1672-7649.2021.09.022
分类号：TP242.3
作者简介：宋吉广(1992-)，男，助理研究员，主要研究方向为无人航行器运动控制方法
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