Unmanned surface vehicle&nbsp;berthing technology&nbsp;based on multi-sensor fusion SLAM&nbsp;

JIA Wei, WANG Ning, ZHANG Fuyu, ZHANG Xuefeng, LI Jielong, WU Haojun, SUN Henan

doi:10.16411/j.cnki.issn1006-7736.2023.04.008

Journal of Dalian Maritime University >

2023 , Vol. 49 >Issue 4: 65 - 75

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2023.04.008

Unmanned surface vehicle berthing technology based on multi-sensor fusion SLAM

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(1a. Marine Engineering College; 1b. Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, China; 2. Ganjingzi Marine Department, Dalian Maritime Safety Administration, Dalian 116000, China)

Received date: 2023-06-04

Revised date: 2023-09-20

Accepted date: 2023-09-20

Online published: 2023-09-20

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Abstract

Aiming at the application requirements of autonomous berthing of unmanned surface vehicles(USV) in harbor areas, the autonomous berthing technology of USV based on multi-sensor fusion of simultaneous localization and mapping(SLAM) was proposed from the perspective of enhancing environmental perception accuracy and location ability. In order to solve the problems of poor timeliness and incomplete environmental representation caused by the dynamic changes in navigable areas, an integrated accurate sensing scheme of water-underwater was proposed to obtain passable information. Aiming at the problem of large satellite positioning deviation and difficult to obtain attitude information, the depth information sensed by USV in real time was matched with the prior point cloud map to obtain accurate position and attitude information. Considering the demand for specific attitude of the USV during berthing, the USV motion model and collision avoidance model were established, and the motion performance parameters of the USV were obtained by using ship manipulation tests,and took it as the constraints of the Reeds-Shepp optimization curve to eliminate the sharp inflection points on the trajectory. According to the real data, the USV model, sensor model and port environment model were constructed for autonomous navigation berthing simulation experiments, and results show that the proposed autonomous berthing technology of USV based on multi-sensor fusion SLAM can complete accurately harbor berthing task.

Key words： unmanned surface vehicle（USV）; harbor berthing; path planning; multi-senor fusion; simulationeous localization and mapping（SLAM）

Cite this article

JIA Wei, WANG Ning, ZHANG Fuyu, ZHANG Xuefeng, LI Jielong, WU Haojun, SUN Henan . Unmanned surface vehicle berthing technology based on multi-sensor fusion SLAM [J]. Journal of Dalian Maritime University, 2023 , 49(4) : 65 -75 . DOI: 10.16411/j.cnki.issn1006-7736.2023.04.008

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