부산대학교 도서관

With the rapid development of unmanned equipment technology, in order to improve the autonomous navigation ability of USV s, this paper proposes an autonomous berthing algorithm for USVs with variable speed based on prior berth information, aiming at the autonomous berthing task of USVs in the complex environment of port and wharf. The algorithm can realize the autonomous departure from the docking dock under the low speed control. Considering the complexity of the dock environment, this paper combined Bezier curve to achieve multi-stage berthing path planning and splicing, and based on the parameter curve to achieve the smooth control of the USV under varying speed, to solve the problems of the USV in the berthing process such as too large Angle and bow output oscillation. By building an intelligent algorithm evolution verification platform combining virtual and real, and designing typical test scenarios, the process verification of autonomous berthing algorithm of USV was completed to verify the effectiveness and feasibility of the algorithm.