关键词: 池塘养殖船, 路径规划, 自动导航, 路径跟踪

Abstract: Aiming at the application scenario that the feeding operation in pond culture requires uniform coverage of the whole pond, there are problems of high artificial feeding intensity and low feed utilization rate, an automatic navigation control system for breeding vessels capable of adapting to different polygonal shape ponds was designed. The control system used a lowcost Beidou positioning module and a highprecision electronic compass for integrated navigation. The position and heading information of the pond culture vessel was obtained as the input of the navigation controller. The path of the navigation process was realized by the builtin navigation controller based on the PD algorithm. A polygon echo line navigation path planning algorithm was designed to quickly realize the navigation path planning of the polygon shape pond. The pond navigation test was carried out. The test results showed that: with the designed automatic navigation system, the culture vessel could sail according to the planned route. When the water speed was 0.4-0.5 m/s, the maximum error after stable tracking was less than 2.62 m, the average tracking error was less than 1.30 m, and the navigation accuracy met the automatic feeding requirements of pond culture.

Key words: pond culture boat, path planning, automatic navigation, path tracking