İnsansız Su Üstü Araçları için Uyarlanabilir Hedef Noktalarına Dayalı Kararlı bir Yol İzleme Algoritması

Yıl 2023, Cilt: 13 Sayı: 2, 493 - 503, 15.06.2023

Osman Ünal , Nuri Akkaş , Gökhan Atalı , Sinan Serdar Özkan , Altuğ Yenginar

https://doi.org/10.31466/kfbd.1225505

Öz

Bu çalışma, insansız su üstü araçları için kararlı bir yol izleme algoritması önermektedir. Bu makalenin temel amacı, izleme hatalarını en aza indirmek için geliştirilmiş algoritmadaki bir anahtar parametreyi optimize etmektir. Bu parametreyi sınırlandırmak ve istikrarlı bir seyir yapmak için kararlılık kriteri belirlenmiştir. Bu model, önceki çalışmalarda kullanılan sabit değere karşılık optimum ve esnek parametreyi kullanarak her zaman adımı için benzersiz hedef noktalarını belirler. Önerilen kararlılık kriteri ve önceki zaman adımından elde edilen dönüş hızı verileri bu optimum parametreyi belirlemek için kullanılmaktadır. Bu çalışmada geliştirilen yöntem, keskin dönüş manevraları gibi kritik noktalarda daha düzgün bir seyrin gerçekleşmesini sağlar. Ayrıca, gerçekçi seyir yapmak için maksimum dönüş hızı için bir üst sınır içerir. Bu çalışmada önerilen model, geleneksel yol izleme algoritmasına kıyasla izleme hatalarını yaklaşık %20 oranında azaltmaktadır. Son olarak, diğer araştırmacıların çalışmalarını kolaylaştırmak için Matlab ortamında hazırlanan sayısal bir simulator, çalışmanın sonuna eklenmiştir.

Anahtar Kelimeler

İnsansız Su Üstü Aracı, Yol Takip Algoritması, İzleme hatası

A Stable Path Following Algorithm Based on Adaptive Target Points for Unmanned Surface Vehicles

Öz

This study proposes a stable and robust path following algorithm for Unmanned Surface Vehicles (USVs). The main objective of this paper is to optimize a key parameter in the improved algorithm to minimize tracking errors. In this study, firstly a stability criterion is developed to limit this parameter and make stable navigation. This model determines the unique target points for each time step using the optimum and flexible parameter in contrast fixed value used in previous studies. The proposed stability criterion and the turning rate data obtained from the previous time step are used to determine this optimum parameter. It provides smooth and precise navigation at critical points like as sharp turning maneuvers. Moreover, it includes saturation for maximum turning rate to make realistic navigation. The proposed model in this study reduces tracking errors by around 20% compared to the conventional carrot-chasing algorithm. Finally, a numerical simulator for USVs in the Matlab environment has been included in the Appendix to support the work of other researchers.

Anahtar Kelimeler

Unmanned Surface Vehicle, Path Following Algorithm, Tracking error

Kaynakça

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