为了解决无人船路径跟踪控制问题，提出基于视距导航算法（LOS导航算法）和模糊PID控制的自适应无人船路径跟踪控制方法。首先根据LOS算法将路径跟踪问题转化为航向控制问题，之后通过模糊PID控制算法进行无人船的航向控制。通过仿真表明所提出的算法路径跟踪精度高，横向偏移量小，跟踪路径平滑，对无人船的路径跟踪控制有一定的参考价值。
In order to solve the path tracking control issue of unmanned vessel, an adaptive path tracking control algorithm based on line-of sight(LOS) navigation algorithm and fuzzy PID control is proposed。Firstly, the path planning problem is transformed into a heading control problem according to the LOS algorithm. Then the heading control of unmanned vessel is carried out by fuzzy PID control algorithm. Simulation results show that the proposed algorithm has high path following accuracy, small lateral offset and smooth tracking path, which have some reference value for the path tracking control of unmanned vessel.
2024,46(5): 109-114 收稿日期：2023-03-20
DOI：10.3404/j.issn.1672-7649.2024.05.020
分类号：U674
作者简介：李少鹏(1995-),男,硕士,助理工程师,研究方向为无人船舶运动控制
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