Despite advances in modern control theory and artificial intelligence technology, current methods for tuning proportional-integral-derivative (PID) controller parameters based on the traditional particle swarm optimization (PSO) algorithm do not meet the requirements for controlling an unmanned surface vessel (USV) propulsion motor. To overcome the disadvantages of the PSO algorithm, such as low precision and easily falling into a local optimum, the beetle antennae search (BAS) algorithm can be introduced into the PSO algorithm by replacing particles with beetles, and effectively prevents the PSO algorithm from easily falling into the local optimum. At the same time, the BAS algorithm will no longer be limited to single objective parameterization. Herein, we propose a PID parameter optimization method based on the hybrid BAS-PSO algorithm for a USV propulsion motor. The PID parameter optimization of propulsion motor effectively becomes a beetle foraging problem with group optimization. Numerical results show that the method can effectively solve the problems of PSO and greatly improve convergence speed. Compared with the genetic algorithm and standard PSO algorithm, the BAS-PSO algorithm is superior for PID parameter tuning and can improve performance of USV propulsion system.

There are few existing omnipotent sensors that handle a complex surface inspection task in an accurate and effective way. The prevailing solution is integrating multiple sensors and taking advantage of their strengths. One key task is the extrinsic parameter calibration (global calibration) of the multiple sensors before measurement. This paper proposes a method of optimal extrinsic calibration for a structured light sensor (SLS) and conoscopic holography sensor (CHS). In adopting this method, a common planar calibration board is placed with different poses in front of the multisensory system, and the extrinsic calibration problem is solved through a three-dimensional reconstruction of the calibration board and using geometric constraints of the views from the SLS and CHS. This calibration method, which uses only the plane calibration board, is simple. Physical experiments demonstrate that the proposed method is robust and accurate in the calibration of multiple inhomogeneous optical sensors for the measurement of a complex surface.