Intelligent Path-following Control of Unmanned Surface Vehicles Based on Improved Line-of-sight Guidance

Abstract For the way point-based path following control of under-actuated unmanned surface vehicle (USV), a new adaptive compensation line-of-sight (LOS) guidance law and speed solver are proposed, and the fuzzy heading control and integral S-plane speed control are designed. The path following control scheme is based on the separation control, and a speed control is added to improve the overall control structure. For adaptive compensation LOS guidance law, confirm the optimal circle radius of the adaptive LOS method first, and then the angle compensation of heading deviation of navigation is conducted for the LOS angle solved by adaptive LOS method, which is used to guide the USV to approach the desired path with the optimal improved LOS angle. Considering the rapidness of path following, a speed solver is designed according to the distance between the two path points, which can calculate the optimal desired speed of the USV in real time. The experimental results testify the effectiveness and superiority of the proposed guidance strategy, the speed solver and the control strategies.