Underactuated unmanned ship obstacle avoidance path planning and control method and system

The invention provides an underactuated unmanned ship obstacle avoidance path planning and control method and system. The method comprises the steps: the current position of an underactuated unmannedship and the position information of an obstacle in a front fan-shaped area are acquired; based on a potential field analysis method, potential field analysis is carried out on the obtained current position of the under-actuated unmanned ship and the position information of the obstacle in the front fan-shaped area, and the estimation point direction with the minimum resultant potential field is selected as a potential field heading angle; the deviation angle between the potential field heading angle and the current heading angle of the underactuated unmanned surface vehicle and the current position repulsion ratio of the underactuated unmanned surface vehicle are introduced into a designed fuzzy logic controller as two input quantities, and the obstacle avoidance heading angle of the underactuated unmanned surfac