ABSTRACT
The main tasks of unmanned surface vessel include following a set route and being able to avoid safely and economically static and/or dynamic obstacles at sea in a complex environment and finally reach the destination smoothly. Based on the design framework of model predictive control, this paper fully considers the ship’s hydrodynamic characteristics and additional disturbances such as wind and current in the ship motion model, and constructs the evaluation function based on track offset, speed variation, collision risk and rule compliance. Taking the power of the unmanned surface vessel’s executive mechanism as the constraint condition, the design and realization of an unmanned surface vessel autonomous navigation model is achieved. The simulation experiment verifies that the involved control algorithm can realize the autonomous navigation of the surface unmanned craft on the desired trajectory. The research results lay the application foundation for future unmanned boat experiments.
