为解决无人艇(USV)直线航迹跟踪工程应用中的航迹转向阶段航向角波动大、航向角曲线不平缓的问题，考虑到航迹切换点圆半径参数R对航向角曲线平缓度的影响，本文以参数R为优化对象，并以横向偏差累积结果为目标函数，提出一种基于二分法查找的参数寻优方法，并且以经典的基于LOS制导律与PID控制律的航迹跟踪算法为设计基础，给出了航迹跟踪算法优化设计方案。最后，通过Matlab仿真验证了本文设计方法的有效性。仿真结果表明，本文的优化算法适用于USV直线航迹跟踪问题，并且能使USV在航迹转向阶段快速且平稳地跟踪下一段期望航迹。
Aiming at the problem of large fluctuation of heading angle and unevenness of heading angle curve in the track turning stage in engineering application of unmanned surface vehicle (USV) straight-lines path tracking, and considering the influence of the circle radius parameter R of the track switching point on the smoothness of the heading angle curve, so the parameter R is taken as the optimization object, the cumulative result of lateral deviation is taken as the objective function , and then a parameter optimization method based on binary search has proposed in this paper, and the optimal design scheme of path tracking algorithm has given on the basis of classical path tracking algorithm based on LOS guidance law and PID control law. Finally, the effectiveness of the design method is verified by Matlab simulation. The simulation results show that the optimization algorithm in this paper is suitable for USV straight-lines path tracking problem, and it can make USV track the next expected track quickly and smoothly in the track turning stage.
2022,44(3): 57-62 收稿日期：2021-07-03
DOI：10.3404/j.issn.1672-7649.2022.03.011
分类号：TP273
基金项目：江苏省自然科学基金资助项目(BK20180171)；海南省重大科技计划项目(ZDKJ2019002)
作者简介：赵俊波(1990-)，男，硕士，工程师，研究方向为船舶导航与控制
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