槽道型无人双体船操纵性预报研究

Path planning is one of the key technologies for autonomous navigation of unmanned vehicles. A good path planning method is of great significance to the intelligent development of unmanned vehicles. In the existing path planning research, the maneuvering performance of unmanned vehicles is not considered. In order to make the planned path have shorter voyage time, shorter path length and better path tracking ability, it is necessary to combine the maneuvering performance of unmanned vehicles with the path planning algorithm. In order to accurately predict the ship maneuverability, the channel-type unmanned catamaran was taken as the research object, and simulation tests of three planar motion mechanisms were carried out by CFD technology. Simulation results were fitted with different hydrodynamic models, and corresponding hydrodynamic derivatives were calculated. The MMG model was used to establish a mathematical model of ship maneuvering motion to simulate the turning motion and Z-shape motion of the unmanned catamaran. The influence of different hydrodynamic models on the simulation results was analyzed, and the maneuvering prediction of the unmanned catamaran was realized.