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

摘要： 针对池塘养殖中投喂作业需要全塘均匀覆盖的应用场景，存在人工投饲强度大、饲料利用率低的问题，设计一种能够适应不同多边形池塘的养殖船自动导航控制系统。控制系统采用低成本北斗定位模块和高精度电子罗盘进行组合导航，获取池塘养殖船的位置和航向信息作为导航控制器的输入，通过构建基于PD算法的导航控制器，实现航行过程中的路径跟踪。设计一种多边形回纹线导航路径规划算法，能够快速实现多边形池塘的导航路径规划。开展池塘导航试验，试验结果表明：采用所设计的自动导航系统，养殖船能够按照规划的路径航行，在水面行驶速度为0.4~0.5 m/s时，稳定跟踪后最大误差小于2.62 m，平均跟踪误差小于1.30 m，导航精度满足池塘养殖自动投饲要求。

关键词: 池塘养殖船, 路径规划, 自动导航, 路径跟踪