摘要
针对在开发和测试船舶智能航行系统时,传统的基于Matlab仿真实验展示型和移植性差的缺点以及实船试验调试成本和风险高的问题。采用ROS操作系统作为软件基础框架,对智能航行中的感知系统、路径规划、航迹控制进行分层设计,基于三维物理仿真软件Gazebo设计了船舶智能航行仿真平台。基于该仿真平台可对智能航行中感知、路径规划、航迹控制进行仿真试验,试验结果表明所设计的试验平台可以实现智能航行的动态模拟。该平台为研究船舶运动控制提供了试验平台,还对降低实船调试成本和风险、提高实船海试效率,具有积极的作用。
Aiming at the disadvantages of the traditional Matlab simulation experiment display type and poor portability in the development and testing of ship intelligent navigation system and the high cost and risk of real ship test and debugging.The ROS operating system is used as the basic software framework to design the sensing system,path planning and track control in intelligent navigation.Based on the 3D physical simulation software Gazebo the ship intelligent navigation simulation platform is designed.Based on the 3D physical simulation software Gazebo the intelligent navigation simulation platform of ships is designed.Based on the simulation platform,the sensing,path planning and track control of intelligent navigation can be simulated.The experimental results show that the designed test platform can realize the dynamic simulation of intelligent navigation.The platform provides a test platform for the study of ship motion control,and also plays a positive role in reducing the cost and risk of real ship commissioning and improving the efficiency of real ship sea test.
作者
秦有成
陈红卫
袁伟
QIN Youcheng;CHEN Hongwei;YUAN Wei(School of Electronic Information,Jiangsu University of Science and Technology,Zhenjiang 212100)
出处
《计算机与数字工程》
2023年第2期515-519,共5页
Computer & Digital Engineering
关键词
船舶
智能航行
ROS
路径规划
ship
intelligent navigation
ROS
path planning
