Research on Control Algorithm of Unmanned Surface Vehicle Line Tracking Based on FPGA

Abstract

The former domestic unmanned surface vehicle carrying multibeam bathymetry system to carry out measurement tasks at sea needs to follow the route issued by the upper computer, which is affected by the wind and waves at sea and other external factors, and will deviate from the target route and cannot meet the requirements of full coverage of multibeam measurement area, thus affecting the multibeam measurement results. In response to the above problems, the navigation path of the unmanned surface vehicle needs to be tracked and controlled. According to the requirements, a suitable mathematical model of unmanned surface boat motion is constructed, and the power system is controlled by incremental PID algorithm and codic algorithm based on FPGA to make real-time tracking and adjustment of the whole route. The unmanned surface vehicle “Sailing” of Hainan University is used as the research object, and the MATLAB simulation test is carried out for the designed control system, and the unmanned surface vehicle “Sailing” is used in the sea near Qinglan Port of Wenchang to conduct the real ship verification test. The feasibility and effectiveness of the designed method were verified by analyzing and comparing the simulation results and test results.