Layered berthing method and experiment of unmanned surface vehicle based on multiple constraints analysis |
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| Institution: | 1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian, Liaoning 116026, China;2. Department of Mathematics, Harbin Institute of Technology, Weihai, Shandong 264209, China;1. University of Ljubljana, Faculty of Maritime Studies and Transport, Pot pomorscakov 4, Portoroz, 6320, Slovenia;2. Maritime University of Szczecin, Institute of Marine Traffic Engineering, Szczecin, Poland |
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| Abstract: | Considering the dynamic changes of unmanned surface vehicle (USV) in berthing tasks, the planning and control modes are divided into two phases: the remote phase and the terminal phase. According to the main influencing factors of the two phases, an improved artificial potential field method is proposed to complete autonomous berthing trajectory planning based on the analysis of environment constraint, berth point constraint and USV’s dynamics constraint. Combining with the dynamic characteristics and control objectives at different phases of berthing and analyzing the fuzzy rule regulation strategy of USV’s heading and speed control, an improved adaptive fuzzy PID control method is proposed to solve the control problem of USV, which is influenced by weak maneuver, large disturbance, limited water area and strong shore effect. Finally, the comparative test of berthing simulation verifies the superiority of the proposed control method. The autonomous berthing field experiment is completed based on the "Dolphin-I" small USV. It verifies the validity and feasibility of the proposed autonomous berthing method. |
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| Keywords: | Unmanned surface vehicle Auto-berthing Constraint analysis Artificial potential field Fuzzy control PID |
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