Design and Research of Intelligent Navigation System for Unmanned Surface Vehicle

In recent years, with the gradual opening of marine resource, the world's major powers are shifting the focus of nation defense and diplomacy to the ocean, in addition, military equipment is also developing towards the direction of unmanned, under this trend, Unmanned Surface Vehicle(USV) are played more and more attention by experts and scholars outside the country. As an important part of the normal navigation of USV, path planning is that USV in an environment with obstacles can plan an optimal path or sub-optimal path without collision from start position to the target position and meets all the conditions. It's one of the key technology for showing the intelligence of USV. Most of the current path planning algorithms are applicable to the free navigation of USV and the collision avoidance is simple, the limitations of underacting type and the maneuverability of USV are not fully considered. It is hard to meet the needs of USV's intelligent collision avoidance in a complex obstacle environment. The paper studies and designs a path planning method based on layered planning, proposes an USV planning strategy under a multi-unit module and designs a trajectory planning unit based on the USV's own characteristics which further reflects the intelligent navigation of USV. The intelligent navigation system of USV can be realized. Finally using the GIS information, the deigned intelligent navigation system is simulated and tested. The results show the effectiveness and practicability of the deigned system.