针对船舶自主航行难题，设计与开发一种基于STM32微控制器的船岸标一体智能航行实验系统，包括航路标识模块、船载感知载荷模块、航行器控制模块。该系统能实现船舶在每个航路转向点前，仿真预报船舶操纵运动轨迹，使用PID控制航模操舵，以提升转向控制精度。经船舶自主航行测试，验证了船岸标一体协同控制可行性和实用性。研究结果可为新一代航运系统中船舶智能航行提供有益的参考。
Aiming to the challenge of ship autonomous navigation, this paper presents the design and development of a ship-shore-beacon integrated experiment system for autonomous navigation, which is based on the microcontroller unit of STM32. The system consists of 3 functional modules including ship path indictors, onboard perceiving unit, and navigation controller. In the vicinity of each way point on the path, the trial maneuvering trajectory is predicted and the executed rudder angle is executed based on PID control algorithm to enhance the accuracy of turning. The entire experiment system and its feasibility and practicality were examined and validated via autonomous sailing test, which benefits the next generation of intelligent navigation system.
2024,46(6): 58-63 收稿日期：2023-03-31
DOI：10.3404/j.issn.1672-7649.2024.06.010
分类号：U661.7
基金项目：工信部高质量专项重点项目（TC210804R）；湖北省自然科学基金重点类项目（2021CFA026）
作者简介：牟瀚知(2002-),男,本科在读,研究方向为智能船舶
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