Design of Unmanned System for Fish-finding and Obstacle Avoidance Based on Pixhawk

With China’s exploration of the sea, unmanned boats on the water are receiving more and more attention. Due to the complex situation on the water, unmanned boat obstacle avoidance still has defects. To address the above problems, this paper designs unmanned fish-finding and obstacle avoidance based on Pixhawk. The Kalman filter algorithm is used for sensor information fusion, which realizes the state estimation of the fish-finding unmanned ship. The BUG2 obstacle avoidance algorithm is used for obstacle avoidance, that optimizes the automatic obstacle avoidance function of the fish-finding unmanned ship. The fish finder is used to detect the position information of the fish, that realizes the function of the fish-finding unmanned ship tracking the fish. The PID control algorithm is used to control the driving of the ship, which makes the fish-finding unmanned ship converge to the desired course quickly and accurately. The lateral error of the vessel is within 1m. The simulation results verify the feasibility of the system, and the sea trial experiments of the unmanned fish-finding vessel prove the reliability and stability of the system.