关键词: 淡水虾蟹养殖, 自主导航, 指挥与监控单元, 通信与控制单元, 人机界面

Abstract: To realize the intelligence and industrialization of the fishery，the application of intelligent unmanned operation platforms to freshwater shrimp and crab farming has become a hot research topic. The developed shrimp and crab farming operation platform controlled by an autonomous navigation system was designed. The manual and automatic control of the shrimp and crab farming operation platform was performed by the command and monitoring unit（CMU），which integrated the human-machine interface（HMI）. The communication and control unit（CCU）realized real- time direction and speed control. The experiments of automatic navigation，speed，and yaw error were carried out on the freshwater shrimp and crab breeding operation platform. The test results showed that under the automatic navigation mode，the maximum error of straight-line navigation was 0. 96 m，and that of turning was 2. 67 m. It could fit the set path well in a straight travel area. In the turning area，it slowed down in advance and drove according to the arc track. After turning，it entered straight travel， which was in line with the operation standard of the actual operation platform. The research results of this paper lay the foundation for further experimental research on autonomous navigation and control of freshwater shrimp and crab farming operation platforms.

Key words: freshwater shrimp and crab farming, autonomous navigation, command and monitoring unit （CMU）, communication and control unit （CCU）, human-machine interface（HMI）