基于模糊逻辑滑动曲线的干扰无人水面车辆自动驾驶与制导系统设计

M. Sahal, Briliant Rizqi Haqiqi, R. E. A. Kadir
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引用次数: 0

摘要

目前发展迅速的一项技术是无人驾驶汽车。无人水面航行器(USV)或无人船可以在没有船长的情况下航行。USV具有多种功能,如车辆和作战工具到运输工具。将USV发展为自动驾驶车辆需要在确定速度、轨迹和避开障碍物方面进行各种配置。所设计的系统必然存在外界干扰,影响系统的稳定性。各种条件下可能发生的环境变化的存在导致USV系统需要能够适应。为了克服这些问题,可以设计一种稳定的智能控制器。在本研究中,利用模糊逻辑滑动曲线设计了无人潜航器自动驾驶和制导系统。为了验证系统设计的结果,将使用MATLAB软件进行仿真。本研究进行了各种变化,以获得一种能够以最快的时间和最短的距离到达航点的自动驾驶和制导无人水面车辆(USV)系统方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Unmanned Surface Vehicle Autopilot and Guidance System Design with Disturbance Using Fuzzy Logic Sliding Curve
One technology that is developing rapidly at this time is unmanned vehicles. Unmanned surface vehicle (USV) or an unmanned ship can go without a captain. USV has a variety of functions such as a vehicle and a combat tool to a means of transportation. The development of the USV into an autonomous vehicle requires a variety of configurations both in determining speed, trajectory and avoiding obstacles. The designed system certainly has external disturbances which can affect the stability of the system. The existence of environmental changes that can occur with various conditions results in the USV system that needs to be able to adapt. To overcome these problems, a stable intelligent controller can be designed. In this study, the USV autopilot and guidance system was designed using a Fuzzy Logic Sliding Curve. In testing the results of system design, simulations will be carried out using MATLAB software. This study carried out various variations to obtain an autopilot and guidance unmanned surface vehicle (USV) system method that was able to reach the waypoint in the fastest time and the shortest distance.
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