【摘要】 针对大量漂浮垃圾不能进行高效快速清理的现状,研究了基于开放水域遍历算法的小型自动巡航清漂船控制系统,并提出了融合磁力计位置误差补偿算法、GPS(Global Position System)方位角与距离算法和Boustrophedon算法的开放水域遍历算法,同时引入闭环控制对清漂船运动控制系统性能进行优化。系统由GPS传感器以及电子罗盘传感器实现位置以及系统姿态信息的获取,经开放水域遍历算法处理后控制清漂船行走路线实现自主导航。利用PID(Proportion Integral Differential)控制算法控制船体推进执行机构,有效减少了边缘越界情况的发生。通过仿真实验验证了所提遍历算法的有效性,并在此基础上开展实物测试,结果显示该系统在63 m~2的多边形水域遍历覆盖率可达95%,可实现对小型水体漂浮物的高效清理,在水体清漂领域具有广阔的应用前景。更多还原

【Abstract】 Aiming at the current situation that floating garbage can not be cleaned efficiently and rapidly,this article studies on the control system of the small-scale float-garbage automatic cruise ship based on the open-water traversal algorithm,and an open-water traversal algorithm is proposed which fuses the magnetometer position error compensation algorithm, the GPS( Global Position System) azimuth, distance algorithm and the Boustrophedon algorithm,while introduces the close-cycle control to optimize the performance of the control system of the float-garbage cruise ship. The system realizes the acquisition of the position and the system pose information through the GPS sensor and the electronic compass sensor,and the route of the float-garbage cruise ship is controtted after the processing with the open-water traversal algorithm to realize the autonomous navigation. The use of the PID( Proportion Integral Differential) control algorithm in aim of controlling the ship propulsion actuator effectively reduces the occurrence of the border-crossing of the margin. Simulation experiments all the effectiveness of the traversal algorithms has been proved theoretically,the physical tests based on this shows that the traversal coverage ratio of this system in a 63-square-meter polygon water region reaches95%,and the system could realize the efficient clearing of small-scale water floating materials,has a broad application prospective in the float-garbage clearing field.更多还原