人工势场法在航道测量中的应用

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.

Application of the Artificial Potential Fields in the Hydrographic Measurement

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.