Path Following of a Water-Jetted USV Based on Maneuverability Tests

Junmin Mou,Yong Xiong,Yangying He,Shixuan Li,Benren Zhang

doi:10.3390/jmse8050354

Abstract

Due to the high propulsive efficiency and better maneuverability under high speed, the water-jetted unmanned surface vehicle (USV) is widely studied and used. This paper presents complete maneuvering tests and control algorithm designed for a twin water-jetted USV model. Firstly, a wireless network control platform is established, and maneuvering tests, for instance, an inertia test, zig-zag test and turning test, are carried out to verify the maneuverability of the USV. In light of the complexity and uncertainty of ship sailing and ship handling, the Human Simulated Intelligent Control (HSIC) method is utilized to optimize the response time, accuracy and robustness of the controller. Finally, for the path following and track rectification part, a Line of Sight (LOS) algorithm is improved and proved practicable with triangle/square path tests. The proposed intelligent navigation algorithm specially designed for matching with the control methods, showing satisfactory improvements on the motion control and path following of the specific USV.

Highlights

Unmanned surface vehicles (USV) are vehicles that operate on the surface of the water without a crew on board
With the development of intelligent control, information communication technology, satellite positioning and navigation systems, water-jetted USVs are of great significance in the military throughout the world [4]
The results showed that the steering device was with excellent maneuvering performance, and could be applied as a controller to steer the ship ahead, astern and to any other condition

Summary

Introduction

Unmanned surface vehicles (USV) are vehicles that operate on the surface of the water without a crew on board. In terms of the propulsion modes, propelled and water-jetted USVs are normally experienced. Water-jetted propulsion is characterized with better propulsion efficiency [1], maneuverability and anti-cavitation performance [2,3], and has attracted more attention than propeller propulsion, which is suitable for the unmanned craft. Water-jetted USVs like ‘AutoCat’ [8], ‘UMV-O’ [9], ‘HaiTeng 1’ [10] and ‘JingHai 1’ [11] play an extremely important role in civil fields, such as resource exploration, hydrography [12], channel measurement and atmosphere exploration [13]

Methods

Results

Discussion

Conclusion