Design and research of simulation test training system for unmanned boat motion control

Abstract

Aiming at the lack of simulation test means for unmanned equipment at the firing range, this paper designs a simulation test training system for unmanned vehicle motion control based on CoppeliaSim simulation software and on the basis of the construction of unmanned vehicle dynamics model and motion model, and constructs three controllers, PID, synovium and fuzzy PID. The Navmesh routing algorithm is selected to realize the path planning of the unmanned boat simulation platform. The system fills the gap in the simulation test of unmanned equipment at the firing range, solves the problem of the lack of simulation training means of unmanned boat, and can provide basic support for the digital test evaluation of unmanned equipment.

Keywords

• usv|motion control|simulation system|controllers|path planning