【摘要】 为实现航道精准测量、自主避障、寻找最优路径等,提出一种将人工势场法与比例-积分-微分(PID)控制相结合的导航算法.通过全球定位系统(GPS)得到试验系统设计测量船的位置信息,利用导航算法得到的舵机角度偏差产生脉冲宽度调制(PWM)信号,经由功率放大等装置驱动伺服电机,带动测量船舵机向预定的方向偏转.通过C语言及串口通信技术实现上下位机通信,实时获得测量船参数信息及航迹图像.试验结果表明:设计的导航算法满足高精度、完全自主的要求,可广泛应用于内陆航道及水库测量工程中.更多还原

【Abstract】 In order to realize accurate survey of channel,automatically avoiding obstacle,finding the optimal route et al,a navigational algorithm that combines artificial potential fields(APF)with proportional-integral-differential(PID)controller was put forward.Through the global positioning system(GPS)to get the location of the survey ship,using the error of electric steering gear angle controlling the pulse-width-modulation(PWM)signal,and driving servo motor by power amplifying device,the electric steering gear can be turned rightly.The C language and strings mouth communication technology are used to realize the communication between the upper and lower computer,and the parameter information and track images of ship are obtained in real-time.The experiment results show that the new navigational algorithm can meet the requirements of high accuracy and complete independency,and can be widely used in fairway surveying engineering.更多还原