Path following control is the basis for autonomous navigation of underactuated unmanned surface vehicles (USV), in which the line-of-sight (LOS) guidance algorithm is widely employed due to its computational efficiency and reliability. However, the LOS guidance law only considers the vehicle kinematics, as well as the saturation constraints of the vehicle actuators, and the vehicle thereby experiences steering lag while tracking a large curvature path, resulting in large tracking errors. Therefore, this paper proposed a LOS guidance algorithm augmented with feedforward compensation to address this problem. The lookahead distance of LOS guidance is compensated dependent on the steering performance and the curvature of the desired path. When the steering performance of the ship is worse or the curvature of the path is greater, the forward looking distance will be decreased and the desired course angle will be increased. In this way, the vehicle can reduce the steering lag caused by the saturation constraint. The accuracy of curve path tracking is evaluated for traditional LOS guidance, integral LOS guidance, and the proposed feedforward LOS guidance algorithm by using numerical analyses. The results demonstrate that the proposed feedforward LOS guidance exhibits the lowest lateral error during curve path tracking. It indicates that the proposed feedforward guidance algorithm can effectively reduce the steering lag of the vehicle to improve the tracking accuracy.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path Following Control of Unmanned Surface Vehicles by Application of Feedforward Compensation of Line-of-Sight Guidance Law


    Weitere Titelangaben:

    Lect.Notes Mechanical Engineering


    Beteiligte:
    Chen, Yan (Herausgeber:in) / Liu, Lujiang (Herausgeber:in) / Liu, Xinjun (Herausgeber:in) / Liu, Haitao (Herausgeber:in) / Li, Ming (Herausgeber:in) / Sun, Tao (Herausgeber:in) / Liu, Jiahe (Autor:in) / Liu, Chao (Autor:in) / Liu, Jianbin (Autor:in) / Wang, Yang (Autor:in)

    Kongress:

    IFToMM China International Conference on Mechanism and Machine Science & Engineering ; 2024 ; Tianjin, China August 12, 2024 - August 14, 2024



    Erscheinungsdatum :

    03.05.2025


    Format / Umfang :

    11 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Ship Path Following Control Based on Modified Line of Sight Guidance Law

    Duan, Zaiyu / Han, Bing / Chen, Yuhang et al. | IEEE | 2024



    Smart carrot chasing guidance law for path following of unmanned surface vehicles

    Ünal, Osman / Akkaş, Nuri / Atalı, Gökhan et al. | SAGE Publications | 2024



    Three-Dimensional Path-Following Nonlinear Guidance for Unmanned Aerial Vehicles

    Kumar, Saurabh / Kumar, Shashi Ranjan / Sinha, Abhinav | AIAA | 2024