Dynamic target tracking technology has a broad application prospect in marine transportation, intelligent marine monitoring, border and coastal defense, etc. However, most target tracking guidance systems designed for unmanned surface vehicles (USVs) lack automatic obstacle avoidance capabilities, which limits their tracking performance. To address this challenge, this paper investigates target tracking guidance for USVs in the presence of obstacles. In order to track the target, the sensors fixed on the bow of the USVs need to be oriented toward the target, especially when the USV is sufficiently close to the target. For this purpose, a bias proportional navigation guidance law with look angle constraints is presented for guiding the follower USVs to orient and approach the moving target. In order to navigate the USVs along a safe route to avoid obstacles, the obstacle profile angle constraint is formulated into the guidance law by solving the bias function with final angle boundary conditions. The field experimentation takes place in a 40-meter-wide and 80-meter-long section of the Huchuntang River. Here, a USV equipped with the proposed guidance law effectively tracks a moving target while navigating around obstacles. Results indicate that the proposed guidance law is capable of tracking the object, avoiding obstacles, and orienting the USV to the target at the final time. The experimental test video is presented in (https://youtu.be/l5SQf2ZgcxM).
A Target Tracking Guidance for Unmanned Surface Vehicles in the Presence of Obstacles
IEEE Transactions on Intelligent Transportation Systems ; 25 , 5 ; 4102-4115
2024-05-01
2743599 byte
Article (Journal)
Electronic Resource
English
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