Application of Artificial Potential Fields in the Hydrographic Measurement Control System

Abstract

This paper describes a new navigational algorithm that combines Artificial Potential Fields with PID controller to realize accurate channel survey, automatic obstacle avoiding, optimal route search et al. A set course can be obtained through this new algorithm and the steering of the unmanned survey ship will be worked out by closed-loop control. In test system, the location of the ship is obtained by GPS, and the error of electric steering gear angle controls PWM pulse signal, which drives servo motor by power amplifying device, thus making the electric steering gear to turn as expected. Communication between upper and lower computer is realized by C language and serial port communication, so as to get parameter information and track images of the ship in a real-time manner. The result shows that the new navigational algorithm more efficient and precise, and can be widely used in fairway surveying engineering.