基于Arduino开发环境的无人艇控制系统设计
|
摘要
针对无人艇实体硬件开发较少、设计开发周期长且控制系统造价昂贵这一现状,设计一种无人艇控制系统。系统以Arduino为集成开发环境,整体涵盖电机驱动系统、环境感知系统、运动状态监测系统和通信系统。系统以At Mega 2560单片机为主控单元,集成电机驱动模块、超声波传感器模块、GPS模块、惯性导航模块以及GPRS模块,并完成集成电路设计与集成开发板的制作。通过对主控单元进行编程,结合自动路径规划算法和自动避障算法,无人艇可以完成自主运动控制和对周围环境的智能感知,且无人艇船载设备端与网络控制端之间可以进行实时交互,具有无线网络通信功能。最终实现一种低成本、高效率的无人艇控制系统设计方案,具有实际工程应用价值。
Focused on the issue that physical hardware development on unmanned surface vehicle is relatively insufficient, as well as the design and development cycle are long and the control system is expensive, an unmanned surface vessel control system was designed. The system used Arduino as the integrated development environment, including motor drive system, context-aware system, movement monitoring system and communication system. The system used At Mega 2560 MCU as the main control unit, integrating the motor drive module, ultrasonic sensor module, GPS module, inertial navigation module and GPRS module, and completed the integrated circuit design and PCB production; the unmanned boat could complete autonomous motion control and intelligent perception of the surrounding environment through the MCU programming, combined with automatic path planning algorithm and automatic obstacle avoidance algorithm, and had a wireless network communication capabilities to realize the real-time interaction between the inboard equipment and the network control termination. Ultimately it achieves a low-cost, high efficiency control system design of unmanned surface vehicles, with practical engineering value.
Focused on the issue that physical hardware development on unmanned surface vehicle is relatively insufficient, as well as the design and development cycle are long and the control system is expensive, an unmanned surface vessel control system was designed. The system used Arduino as the integrated development environment, including motor drive system, context-aware system, movement monitoring system and communication system. The system used At Mega 2560 MCU as the main control unit, integrating the motor drive module, ultrasonic sensor module, GPS module, inertial navigation module and GPRS module, and completed the integrated circuit design and PCB production; the unmanned boat could complete autonomous motion control and intelligent perception of the surrounding environment through the MCU programming, combined with automatic path planning algorithm and automatic obstacle avoidance algorithm, and had a wireless network communication capabilities to realize the real-time interaction between the inboard equipment and the network control termination. Ultimately it achieves a low-cost, high efficiency control system design of unmanned surface vehicles, with practical engineering value.
引文
[1]郑烈心.水面无人艇建模与运动控制系统设计[D].广州:华南理工大学2016.ZHENG L X.Modeling and motion control system design of unmanned surface vehicle[D].Guangzhou:South China Uiniversity of Technology,2016.
[2]徐建华.无人艇控制系统设计[D].镇江:江苏科技大学,2015.XU J H,.Design of USV Control System[D].Zhangjiang,Jiangsu University Of Science And Technology,2015
[3]YAN R,PANG S,SUN H,et al.Development and missions of unmanned surface vehicle[J].Journal of Marine Science and Application,2010,9(4):451-457.
[4]阚亚雄,卢道华,仲伟波,等.小型无人艇集成控制系统设计与实验研究[J].王佳.舰船科学技术,2016(10):67-71.KAN Y X,LU D H,ZHONG W B.Design and experience of the small unmanned surface vehicle integrated control system[J].Ship Science and Technology,2016(10):67-71.
[5]陈超,阚亚雄.单喷泵水面无人艇综合运动控制系统设计与实验研究[J].中国造船,2016(4):139-146.CHEN C,KAN Y X.Design and experiment of integrated motion control system for unmanned surface vehicle with single water-jet-propulsion[J].Shipbuilding of China,2016(4):139-146.
[6]刘全,王阳阳,杨强,等.小型水面无人艇电力推进系统的设计与实现[J].测控技术,2016(3):71-74.LIU Q,WANG Y Y,YANG Q,et al.Design and implementation of an electric propulsion system for small unmanned surface vehicle[J].Measurement&Control Technology,2016(3):71-74.
[7]崔阳,张维华,白云峰.一种基于Arduino的智能家居控制系统[J].电子技术应用,2014(4):123-125.CUI Y,ZHANG W H,BAI Y F.Intellectual home control system based on arduino[J].Application of Electronic Technique,2014(4):123-125.
[8]蔡睿妍.Arduino的原理及应用[J].电子设计工程,2012(16):155-157.CAI R Y.Principle and application of Arduino[J].Electronic Design Engineering,2012(16):155-157.
[2]徐建华.无人艇控制系统设计[D].镇江:江苏科技大学,2015.XU J H,.Design of USV Control System[D].Zhangjiang,Jiangsu University Of Science And Technology,2015
[3]YAN R,PANG S,SUN H,et al.Development and missions of unmanned surface vehicle[J].Journal of Marine Science and Application,2010,9(4):451-457.
[4]阚亚雄,卢道华,仲伟波,等.小型无人艇集成控制系统设计与实验研究[J].王佳.舰船科学技术,2016(10):67-71.KAN Y X,LU D H,ZHONG W B.Design and experience of the small unmanned surface vehicle integrated control system[J].Ship Science and Technology,2016(10):67-71.
[5]陈超,阚亚雄.单喷泵水面无人艇综合运动控制系统设计与实验研究[J].中国造船,2016(4):139-146.CHEN C,KAN Y X.Design and experiment of integrated motion control system for unmanned surface vehicle with single water-jet-propulsion[J].Shipbuilding of China,2016(4):139-146.
[6]刘全,王阳阳,杨强,等.小型水面无人艇电力推进系统的设计与实现[J].测控技术,2016(3):71-74.LIU Q,WANG Y Y,YANG Q,et al.Design and implementation of an electric propulsion system for small unmanned surface vehicle[J].Measurement&Control Technology,2016(3):71-74.
[7]崔阳,张维华,白云峰.一种基于Arduino的智能家居控制系统[J].电子技术应用,2014(4):123-125.CUI Y,ZHANG W H,BAI Y F.Intellectual home control system based on arduino[J].Application of Electronic Technique,2014(4):123-125.
[8]蔡睿妍.Arduino的原理及应用[J].电子设计工程,2012(16):155-157.CAI R Y.Principle and application of Arduino[J].Electronic Design Engineering,2012(16):155-157.