Abstract: An omnidirectional unmanned ship platform is designed based on four paddle wheels to address the problems of large turning radius of existing garbage cleaning ships, especially poor maneuverability in small and narrow waters. A kinematic model has been firstly established for the dynamic analysis of the ship. The paddle wheel is stably controlled by using the fuzzy adaptive proportional-integral-derivative (PID) control algorithm, combing with the real-time motion data of the direct current (DC) motor encoder. The experimental results show that the omnidirectional USV can achieve transverse, longitudinal and oblique motion without changing heading angle. The trajectory tracking accuracy is high, with an error of within 10 cm, and the actual trajectory conforms to the expected one. This ship has advantages such as zero turning radius and shallow draft, which is suitable for garbage cleaning in small narrow waters.

Key words: omnidirectional move, paddle wheel vehicle, unmanned surface vessel (USV), dynamics and kinematics analysis, trajectory tracking

摘要： 该文针对现有垃圾清理船舶回转半径较大（尤其在小型狭窄水域中机动性差）等问题,设计了一种基于4个明轮的全向移动式无人船舶平台。文中首先建立该船舶的运动学模型,并进行了动力学分析;然后结合直流电机编码器的实时运动数据,利用模糊自适应比例-积分-微分控制算法实现了对明轮的稳定控制。实验结果表明：该全向移动式无人船舶能在艏向角不变的情况下,实现横向、纵向和斜向等方向的运动,其轨迹跟踪精度高,误差在10 cm内,实际航行跟踪轨迹贴合期望轨迹。该船舶具有无回转半径、吃水浅等优势,适用于小型狭窄水域中工作的无人船舶平台。

关键词: 全向移动, 明轮船舶, 无人船, 动力学与运动学分析, 轨迹跟踪