Research on Underactuated USV Obstacle Avoidance Control Algorithm Based on Lidar

摘要

Aiming at the obstacle avoidance control problem of underactuated USV in complex marine environment, an obstacle avoidance control algorithm with real-time path planning and dynamic tracking is designed. Firstly, based on the high-precision environment detection capability of Lidar, a new path real-time planning algorithm is proposed. Then, based on the unmanned three-degree-of-freedom asymmetric kinematics and dynamics model, the line-of-sight guidance and output feedback control method are designed, and the stability analysis of the system is given. Finally, the theoretical analysis and simulation experiments prove that the designed obstacle avoidance control algorithm can successfully realize the real-time planning of safe path and the path dynamic stability following in unknown marine environment.