State Key Laboratory of Precision Blasting, Jianghan University, Wuhan, China.
School of Intelligent Manufacturing, Jianghan University, Wuhan, China.
PLoS One. 2023 Aug 17;18(8):e0290246. doi: 10.1371/journal.pone.0290246. eCollection 2023.
Trajectory tracking plays a notable role in unmanned surface vehicles (USV), especially for the emerging intelligent aquaculture, as the level of integration, high-efficiency, and low-labor-intensity of such USV is determined by trajectory tracking. Here, we report a generic trajectory tracking control system for a paddle boat by establishing a three-degree-of-freedom kinematics model, which could precisely characterize the relationship between velocities, forces and moments of the paddle boat. A Pixhawk 4 as the core controller of the hardware system could be integrated with the other hardware submodules and could complete the wireless data transmission, monitoring and remote control functions. Meanwhile, we establish a fuzzy rule table, consider the advantages of line-of-sight (LOS) guidance and fuzzy adaptive proportional-integral-differential (PID) algorithm, combine the two parts and apply them as the key algorithm in the trajectory tracking of the paddle boat. Demonstrations include trajectory tracking effect at different velocities, turning effect at left-turn moment, and trajectory tracking effect at different turning angles. The results show that the paddle boat is able to travel under the trajectory formed by following the planned waypoints within the error allowed, which is called effective trajectory tracking. And can offer an alternative pathway toward achieving effective trajectory tracking control in advanced intelligent aquaculture USV for smartly and wirelessly operated pond drug spraying.
轨迹跟踪在无人水面艇（USV）中起着重要作用，特别是对于新兴的智能水产养殖来说，因为 USV 的集成度、高效率和低劳动力强度取决于轨迹跟踪。在这里，我们通过建立三自由度运动学模型，为桨船报告了一种通用的轨迹跟踪控制系统，该模型可以精确地描述桨船的速度、力和力矩之间的关系。Pixhawk 4 作为硬件系统的核心控制器，可以与其他硬件子模块集成，并完成无线数据传输、监控和远程控制功能。同时，我们建立了模糊规则表，考虑到视线（LOS）制导的优点和模糊自适应比例-积分-微分（PID）算法，将两部分结合起来，并将它们应用于桨船的轨迹跟踪中。演示包括在不同速度下的轨迹跟踪效果、左转瞬间的转弯效果以及在不同转弯角度下的轨迹跟踪效果。结果表明，桨船能够在允许误差范围内沿着规划的航点形成的轨迹行驶，这称为有效轨迹跟踪。并为智能水产养殖 USV 的有效轨迹跟踪控制提供了一种替代方法，用于智能和无线操作池塘施药。
