Target Surround Tracking Method of USVs Based on Perception Information

SONG Jiguang; LI Delong; FENG Liang; LIU Yang; LIN Yang; SUN Tieming

doi:10.11993/j.issn.2096-3920.202206011

Volume 31 Issue 5

Oct 2023

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Article Navigation > Journal of Unmanned Undersea Systems > 2023 > 31(5): 696-702

SONG Jiguang, LI Delong, FENG Liang, LIU Yang, LIN Yang, SUN Tieming. Target Surround Tracking Method of USVs Based on Perception Information[J]. Journal of Unmanned Undersea Systems, 2023, 31(5): 696-702. doi: 10.11993/j.issn.2096-3920.202206011

Citation:

SONG Jiguang, LI Delong, FENG Liang, LIU Yang, LIN Yang, SUN Tieming. Target Surround Tracking Method of USVs Based on Perception Information[J]. Journal of Unmanned Undersea Systems, 2023, 31(5): 696-702. doi: 10.11993/j.issn.2096-3920.202206011

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Target Surround Tracking Method of USVs Based on Perception Information

doi: 10.11993/j.issn.2096-3920.202206011

SONG Jiguang^{1, 2
,},
LI Delong^{1, 2
,},
FENG Liang^{1, 2},
LIU Yang^{1, 2},
LIN Yang^{1, 2},
SUN Tieming^{1, 2}

1.
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.
Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China

Received Date: 2022-06-22
Rev Recd Date: 2022-09-30

Available Online: 2023-06-08

Abstract

Abstract

Unmanned surface vehicle(USV), as an intelligent surface tool, can realize basic functions such as navigation control, as well as surface target recognition and perception. However, with the diversification of engineering requirements, such as search and rescue missions oriented to wrecked freighter, unknown ship feature recognition, and wrecked aircraft, these basic functions fail to complete the task. Therefore, it is necessary to develop a method to track the target stably and complete 360-degree scanning. In this paper, based on the perceptual target information, a target surround tracking method was proposed for target detection. After estimating the target motion state from the sensing information, the virtual target point tracking algorithm was used to calculate the desired heading and velocity. The heading controller and speed controller were used to control the position and attitude of the USV. At the same time, a re-planning and tracking strategy was added to adapt to the complex environment of the water surface and the error disturbance of the information provided by the sensing equipment. The USV model identification method was used to obtain the model and build a simulation platform for simulation verification. The actual flight test proves the rationality of the algorithm design.

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References(16)

References

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