Research on Autonomous Hovering and Panning Algorithm of USV Based on Jet Pump Power

With the rapid development of autonomous navigation capability of unmanned craft, there are more and more application scenarios of unmanned craft. It is considered that the USV needs dynamic positioning ability when collecting and releasing load equipment, autonomous berthing, refueling at sea and other operations. However, the USV belongs to underactuated control, and the position and attitude of the boat are difficult to maintain. In this paper, an autonomous hovering translation algorithm for unmanned craft is proposed based on double-jet pump powered ship. Considering the influence factors of wind, wave and current environment, this paper constructs the maneuvering dynamics model of USV. PID controller is used to coupling the lateral speed and longitudinal speed of USV, so as to realize the autonomous hovering and moving ability of USV. By building a real boat verification platform and designing typical task scenarios, the USV autonomous hovering and moving algorithm process verification was completed to verify the effectiveness and feasibility of the algorithm.