Abstract
The unmanned aerial vehicle (UAV) is inexpensive and offers a fast response speed and robust flexibility; thus, it is a promising tool in the maritime buoyage inspection scenario, which involves monitoring and accessing a lateral mark system far away from the coast. However, two main problems can occur during inspection. The first is extreme weather conditions, resulting in a deviation between the inspection route and the design route. The second is that the buoyage beacons are visited only once. Therefore, this article proposes a buoyage inspection system consisting of a single UAV and random coastal buoys. The UAV automatically takes off from the depot, performs a self-check on the buoy beacons, and then returns to the depot. A cascade active disturbance rejection controller (ADRC) is designed to adjust the real-time trajectory of the UAV system. A feasible trajectory planning method is also designed based on the continuous Hopfield neural network (CHNN) and genetic algorithm (GA) to minimize the inspection distance. Extensive simulations are conducted to demonstrate the effectiveness of the proposed method.
Highlights
The coastal buoyage system provides accurate locations and safe navigation information for vessels [1], [2]
All buoys need to be visited only once, which can be regarded as a travelling salesman problem (TSP)
A feasible path planning algorithm based on the continuous Hopfield neural network (CHNN) network and genetic algorithm is proposed
Summary
The coastal buoyage system provides accurate locations and safe navigation information for vessels [1], [2]. The collision problem exists in the inspection environment, especially the trajectory collision between a UAV and a buoyage target [8]. B. Li et al.: Maritime Buoyage Inspection System Based on an UAV and Active Disturbance Rejection Control different articles in trajectory tracking and path selection. A. CONTRIBUTION This article’s major contributions are twofold: (1) When a UAV meets an unknown disturbance in the ocean, the trajectory tracking performance is not accurate. (2) A feasible path planning method based on the CHNN and genetic algorithm is designed to obtain the shortest-distance trajectory in which the buoy can be visited once We propose the cascade dual ADRC closed-loop controller for monitoring and adjusting real-time flight routes. (2) A feasible path planning method based on the CHNN and genetic algorithm is designed to obtain the shortest-distance trajectory in which the buoy can be visited once
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