Autonomous Unmanned Surface Vessel Based on GPS And Radar

Abstract

In this paper, based on the principle of attachment coordinate system and Maneuvering Modeling Group modeling principle, the motion model is constructed. The fuzzy PID control algorithm is used to design the heading controller and the track point tracking algorithm. The motion model is simulated and designed to realize the track point tracking. The method of fuzzy inference is used to overcome the shortcomings of the traditional PID control that cannot modify the PID parameters online. At the same time, pre-processing of point cloud data and LIDAR-based obstacle detection are realized. Experimental results verify the accuracy of model design and the effectiveness of autonomous navigation control design.