Design of Route Planning Wireless Network Control System for Unmanned Surface Vehicle

• Main Authors: Zhang, Benren, Xiong, Yong, Mou, Junmin, Zhang, Jia, Yu, Jiajun, Liu, Hongtao
• Format: Conference Proceeding
• Language: English
• Subjects: Cloud Platform; Route Planning; STM32F103; Unmanned Surface Vehicle(USV); Wireless Network Control
• ISSN: 2473-3547
• DOI: 10.1109/ISCID.2018.00024

Aiming at the fact that the unmanned ship's wireless network control and route planning system have few real-ship applications, design of cloud platform-based route planning wireless network control system for unmanned surface vehicle (USV) is undertaken. In this paper, a complete system with "adaptive control, automatic collision avoidance and path planning, on-line monitoring and management of cloud platforms" is established. The system is composed of two parts, the network terminal and the onboard equipment terminal. The former uses the Elastic Compute Service (ECS) to establish a remote control terminal and uses GPRS (General Packet Radio Service) to establish a wireless network with unmanned ship equipment. The latter takes the STM32F103VET6 chip as the core, integrating power drive, environment awareness, wireless network communication and other modules with an automatic obstacle avoidance algorithm in it. The operator can log on to the back-end server website to monitor the USV online: trajectory data can be optimized by the ant colony algorithm through "point selection" function which is sent to the lower position machine so that boat can follow the setting path to complete the route planning task; meanwhile, the USV geographical position and dynamic parameters are uploaded to the server for on-line monitoring. Ultimately, the experimental results show that the track remains stable and the motion control is steady when the unmanned boat navigates on a given route.