Unmanned surface vehicle (USV) is widely used in marine resource exploration, environmental exploration and other aspects. In many navigation tasks of USV, path following has high practical value and is more suitable for practical application. The ability to follow a specific path in a navigation mission is the basis for more complex navigation missions. In this paper, an arbitrary path following method based on path parameter description is proposed. By analyzing the kinematics model and dynamics model of USV, a control algorithm is designed to enable USV to follow the path at a given forward velocity and external flow disturbance of USV are estimated using RBF neural network.
Unmanned Surface Vehicle Path Following based on Path Parameter Description
2020-10-05
5088141 byte
Conference paper
Electronic Resource
English
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