Research on Underactuated USV Path Following Algorithm

被引：0
|
作者：
Yi, Ge [1 ]
Liu, Zhong [1 ]
Zhang, Jian-qiang [1 ]
Dong, Jiao [1 ]
机构：
[1] Naval Univ Engn, Coll Weaponry Engn, Wuhan 430000, Peoples R China
来源：
PROCEEDINGS OF 2020 IEEE 4TH INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC 2020) | 2020年
关键词：
underactuated control; USV; path following; TRACKING;
D O I：
10.1109/itnec48623.2020.9085222
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at the problem of under-driven USV navigation control, a USV navigation tracking control algorithm with dynamic tracking ability was designed. Firstly, a USV three-degree-of-freedom kinematics and dynamics model is established, and then a heading tracking controller is designed based on the output feedback control method. Based on this, a sight guidance strategy is added to complete the design of the path tracking controller, and the stability of the system is given. Sex analysis. Finally, theoretical analysis and simulation experiments show that the designed path tracking controller can track straight and curved tracks with less error.
引用
收藏
页码：2141 / 2145
页数：5
相关论文
共 50 条
  • [1] Underactuated USV path following mechanism based on the cascade method
    Mingzhen Lin
    Zhiqiang Zhang
    Yandong Pang
    Hongsheng Lin
    Qing Ji
    Scientific Reports, 12
  • [2] Underactuated USV path following mechanism based on the cascade method
    Lin, Mingzhen
    Zhang, Zhiqiang
    Pang, Yandong
    Lin, Hongsheng
    Ji, Qing
    SCIENTIFIC REPORTS, 2022, 12 (01)
  • [3] Path following control of underactuated USV based on asymmetric model
    Wan, Lei, 1600, Editorial office of Ship Building of China, China (57):
  • [4] PATH FOLLOWING CONTROL OF THE UNDERACTUATED USV BASED ON THE IMPROVED LINE-OF-SIGHT GUIDANCE ALGORITHM
    Liu, Tao
    Dong, Zaopeng
    Du, Hongwang
    Song, Lifei
    Mao, Yunsheng
    POLISH MARITIME RESEARCH, 2017, 24 (01) : 3 - 11
  • [5] Multi-path Following for Underactuated USV Based on Deep Reinforcement Learning
    Wang, Zihao
    Wu, Yaoxin
    Song, Wen
    PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022, 2023, 1010 : 3525 - 3535
  • [6] Research on Underactuated USV Obstacle Avoidance Control Algorithm Based on Lidar
    Dong Jiao
    Zhang Jianqiang
    Chen Xiao
    Chen Jinxin
    PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019), 2019, : 269 - 274
  • [7] Path following of underactuated USV based on modified integral line-of-sight guidance strategies
    Chen X.
    Liu Z.
    Zhang J.
    Dong J.
    Zhou D.
    Liu, Zhong (liuzh531@163.com), 2018, Beijing University of Aeronautics and Astronautics (BUAA) (44): : 489 - 499
  • [8] Path Following Optimization for an Underactuated USV Using Smoothly-Convergent Deep Reinforcement Learning
    Zhao, Yujiao
    Qi, Xin
    Ma, Yong
    Li, Zhixiong
    Malekian, Reza
    Sotelo, Miguel Angel
    IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2021, 22 (10) : 6208 - 6220
  • [9] Line-of-Sight Path Following of an Underactuated USV Exposed to Ocean Currents using Cascaded Theorem
    Huang, Haibin
    Li, Yanan
    Zhuang, Yufei
    Gong, Mian
    Sharma, Sanjay
    Xu, Dianguo
    2018 WRC SYMPOSIUM ON ADVANCED ROBOTICS AND AUTOMATION (WRC SARA), 2018, : 326 - 333
  • [10] The USV Path Following Controller Design
    Bai, Yiming
    Zhao, Yongsheng
    Li, Tieshan
    2017 4TH INTERNATIONAL CONFERENCE ON INFORMATION, CYBERNETICS AND COMPUTATIONAL SOCIAL SYSTEMS (ICCSS), 2017, : 679 - 682
12345