Research on USV trajectory tracking method based on LOS algorithm
Zhi-Qiang Liu, Linwen Yu, Qing Xiang, Tonghui Qian, Zhigang Lou, Weitao Xue · 2021
In order to study the trajectory tracking control of unmanned surface vehicle (USV) in real water environment and improve the tracking accuracy under the influence of wind, waves and currents, a USV trajectory tracking control method based on line-of-sight (LOS) guidance algorithm is proposed. First, according to the structural characteristics of the USV, a nonlinear mathematical model is established. Then, the LOS guidance algorithm is used to transform the position tracking problem of the USV into a heading control problem, and the heading angle of the USV is made to converge to the desired heading angle by designing a nonlinear heading controller. Finally, multiple desired heading points are set in the real water environment and the tracking experiments are conducted, and good results are obtained, further verifying the engineering.