Trajectory Tracking Control of Surface Mobile Buoys Based on A-Star - NMPC Algorithm

YunLi Nie; Di Tian; LiBin Du; Vladimir Filaretov; Zhaojie Wang; YiZhe Huang; JiaHao Du

YunLi Nie College of Ocean Science and Engineering, Shandong University of Science and Technolo-gy, Qingdao 266590
Di Tian College of Ocean Science and Engineering, Shandong University of Science and Technolo-gy, Qingdao 266590
LiBin Du College of Ocean Science and Engineering, Shandong University of Science and Technolo-gy, Qingdao 266590
Vladimir Filaretov Institute of Automation and Control Processes FEB RAS, Vladivostok, Russia
Zhaojie Wang China Ship Research and Development Academy, Beijing 100020, China
YiZhe Huang College of Ocean Science and Engineering, Shandong University of Science and Technolo-gy, Qingdao 266590
JiaHao Du College of Ocean Science and Engineering, Shandong University of Science and Technolo-gy, Qingdao 266590

Keywords: Surface mobile buoy, Trajectory tracking, Simulation analysis, Model predictive control

Abstract

针对传统浮标机动性不足、轨迹跟踪精度低的问题，设计了一种新型水面移动浮标，并设计了一种融合A*算法和非线性模型预测控制（NMPC）的轨迹跟踪算法。首先，建立三自由度水面移动浮标的数学模型。其次，设计A*-NMPC算法，将A*算法的全局路径规划能力与NMPC的动态优化特性相结合，形成协同控制框架。最后，通过仿真实验，对比分析了与线性模型预测控制（MPC）的轨迹跟踪效果。结果表明，A*-NMPC在航向突变场景下表现出显著优势，最大纵向误差较MPC降低50%，横向误差降低80%，且具备动态避障和快速响应能力。