An improved line-of-sight guidance law for path following of Unmanned Surface Vehicle based on adaptive lookahead distance

Zhiqin Huang; Ping Wang; Longtao Lu; Zicheng Song

doi:10.1117/12.2640801

20 September 2022 An improved line-of-sight guidance law for path following of Unmanned Surface Vehicle based on adaptive lookahead distance

Zhiqin Huang, Ping Wang, Longtao Lu, Zicheng Song

Author Affiliations +

Proceedings Volume 12261, International Conference on Mechanical Design and Simulation (MDS 2022); 1226107 (2022) https://doi.org/10.1117/12.2640801
Event: Second International Conference on Mechanical Design and Simulation (MDS 2022), 2022, Wuhan, China

Abstract

This paper proposes an improved line-of-sight (LOS) guidance law for path following of Unmanned Surface Vehicle (USV) based on adaptive lookahead distance. The adaptive lookahead distance guidance algorithm of path following is designed as a new function of the USV’s cross tracking error to adjust the lookahead distance with less parameters and less initial lookahead distance, so that the USV reach the desired path quickly and stably in both straight-line and curve guidance. In the experiment, it is compared with other algorithms using the PID controller and Qihang USV model. The simulation results show the effectiveness of the adaptive lookahead distance algorithm in both straight-line and curve desired path. Compared with other guidance algorithms, the improved adaptive LOS guidance algorithm reaches the desired path faster for the first time and is closer to the desired path after stabilization.

Citation Download Citation

Zhiqin Huang, Ping Wang, Longtao Lu, and Zicheng Song "An improved line-of-sight guidance law for path following of Unmanned Surface Vehicle based on adaptive lookahead distance", Proc. SPIE 12261, International Conference on Mechanical Design and Simulation (MDS 2022), 1226107 (20 September 2022); https://doi.org/10.1117/12.2640801

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