USV Trajectory Tracking Control Algorithm of Based on the Line-of-sight Guidance Strategy

doi:10.12382/bgxb.2022.B008

Abstract

Abstract: To realize the precise tracking and safe navigation control of the unmanned surface vehicle (USV) in the complex ocean environment, firstly, the line-of-sight (LOS) guidance strategy used in USV trajectory tracking control is studied in detail, and the algorithms are divided into two categories: LOS guidance strategy based on look-ahead distance and on encircling circle. Then, the mathematical model of the USV is built, and the USV trajectory tracking control algorithm is designed based on the LOS guidance strategy using the look-ahead distance and the PID control idea. Finally, the simulation results show that the proposed algorithm has good trajectory tracking control effects, which can provide insights into research on the autonomous navigation control technology and the construction of the USV equipment in China.

Key words: unmannedsurfacevehicle, line-of-sightguidancestrategy, trajectorytrackingcontrol, PIDalgorithm

CLC Number:

TP242

WANG Lian, LI Ye, CHEN Xiao, LUO Rong, WANYAN Juan, TANG Jiayu. USV Trajectory Tracking Control Algorithm of Based on the Line-of-sight Guidance Strategy[J]. Acta Armamentarii, 2022, 43(S2): 20-25.

References

［1］李伟, 徐轩彬, 郑振宇.世界无人艇技术研发动态与作战使用分析[J]. 舰船电子工程, 2022, 42(4): 4-7.
LI W,XU X B,ZHENG Z Y.Analysis on the development trend and operational use of USV technology in the world[J].Ship Electronic Engineering, 2022, 42(4): 4-7.(in Chinese)
[2］王宁, 王仁慧, 鲁挺. 推进器饱和约束的水面无人艇固定时间精准跟踪控制[J/OL]. 控制理论与应用: 1-9[2022-05-25]. http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1750.046.html.
WANG N,WANG R H,LU T.Fixed-time precision tracking control of an unmanned surface vehicle constrained by thruster saturations[J/OL].Control Theory & Applications：1-9[2022-05-25].http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1750.046.html.(in Chinese)
[3］王山丹, 孙梦薇, 刘剑,等. 固定时间预测器下的欠驱动无人艇航迹跟踪控制[J/OL]. 控制理论与应用: 1-9[2022-05-25]. http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1739.026.html.
WANG S D,SUN M W,LIU J,et al. Fixed-time predictor-based path following control of unmanned surface vehicles[J/OL]. Control Theory & Applications：1-9[2022-05-25]. http:∥kns.cnki.net/kcms/detail/44.1240.TP.20220216.1739.026.html.(in Chinese)
[4］赵俊波, 葛锡云, 周宏坤. 无人艇直线航迹跟踪算法优化设计[J]. 舰船科学技术, 2022, 44(3): 57-62.
ZHAO J B,GE X Y,ZHOU H K.Unmanned surface vehicle straight-lines path tracking algorithm optimization design[J]. Ship Science and Technology, 2022, 44(3): 57-62.(in Chinese)
[5］郭睿. 无人艇路径规划与航迹控制技术研究[D].镇江：江苏科技大学, 2021.
GUO R. Research on unmanned vehicle path planning and track control technology[D].Zhenjiang：Jiangsu University of Science and Technology,2021.(in Chinese)
[6］ FAN Y S, ZOU X P, WANG G F,et al. Robust adaptive path following control strategy for underactuated unmanned surface vehicles with model deviation and actuator saturation[J].Applied Sciences, 2022, 12(5): 2696-2797.
[7］ LIN M Z, ZHANG Z Q, PANG Y D, et al. Underactuated USV path following mechanism based on the cascade method[J]. Scientific Reports, 2022, 12(1): 138-151.
[8］ JIANG K Y, MAO L, SU Y M, et al. Trajectory tracking control for underactuated USV with prescribed performance and input quantization[J]. Symmetry, 2021,13(11): 111-135.
[9］栾天宇,张玉峰,张成伟, 等. 考虑扰动及模型不确定的无人船路径跟踪控制[J].电脑知识与技术,2021, 17(9): 223-226,233.
LUAN T Y,ZHANG Y F,ZHANG C W,et al. Path following control of USV considering disturbance and model uncertainty[J]. Computer Knowledge and Technology, 2021, 17(9): 223-226,233.(in Chinese)
[10］刘正锋, 张隆辉, 魏纳新, 等.限制区域水面无人艇路径规划与跟踪控制研究[J]. 船舶力学, 2021, 25(9): 1127-1136.
LIU Z F,ZHANG L H,WEI N X,et al. Study on path planning and following control of unmanned surface vehicles in restricted areas[J]. Journal of Ship Mechanics, 2021, 25(9): 1127-1136.(in Chinese)
[11］邹兰平. 欠驱动水面无人艇轨迹跟踪控制研究[D].湛江：广东海洋大学, 2021.
ZOU L P. Research on trajectory tracking control of underactuated surface unmanned vehicle[D]. Zhanjiang:Guangdong Ocean University，2021.（in Chinese）
[12］张广洁, 严卫生, 高剑. 基于模型预测控制的欠驱动AUV直线路径跟踪[J]. 水下无人系统学报, 2017, 25(1): 82-88.
ZHANG G J,YAN W S,GAO J. Straight line tracking of underactuacted AUV based on model predictive control[J]. Journal of Unmanned Undersea Systems, 2017, 25(1): 82-88.(in Chinese)
[13］ ZHU J, WANG J H, ZHENG T Q, et al. Straight path following of unmanned surface vehicle under flow disturbance[J]. IEEE Ocean, 2016, 32(3): 1-7.
[14］范云生, 郭晨, 赵永生, 等. 时变漂角下USV直线路径跟踪控制器设计与验证[J]. 仪器仪表学报, 2016, 37(11): 2514-2520.
FAN Y S,GUO C,ZHAO Y S,et al. Design and verification of straight line path following controller for USV with time-varying drift angle[J]. Chinese Journal of Scientific Instrument,2016, 37(11): 2514-2520.(in Chinese)
[15］ MOREIRA L, FOSSEN T L, SOARES G. Path following control system for a tanker ship model[J]. Ocean Engineering, 2007, 34: 2074-2085.
[16］陈志超, 薛圻蒙, 罗凯, 等. 基于改进LOS导航算法的智能船舶自动靠泊控制研究[J]. 中国航海, 2021, 44(2): 126-133.
CHEN Z C,XUE Q M,LUO K,et al. Intelligent automatic control of ship berthing with improved LOS guidance[J]. Navigation of China, 2021, 44(2): 126-133.(in Chinese)

第43卷增刊22022 年11月
兵工学报ACTA ARMAMENTARII
Vol.43Suppl.2Nov. 2022

[1]	LI Guangbao, GAO Dong, LU Yong, PING Hao, ZHOU Yuanyuan. Design of Nitrogen Filling System of Launch Canister Based on SSA-PID and Kalman Filter Control [J]. Acta Armamentarii, 2022, 43(S2): 153-163.
[2]	ZHENG Rong， XIN Chuanlong， TANG Zhong， SONG Tao. Review on the Platform Technology of Autonomous Deployment of AUV by USV [J]. Acta Armamentarii, 2020, 41(8): 1675-1687.
[3]	ZHANG Chengju， WANG Cong, WANG Jinqiang, LI Conghui. Robust Adaptive Position Tracking Control of Underactuated Unmanned Surface Vehicle [J]. Acta Armamentarii, 2020, 41(7): 1393-1400.
[4]	LUO Fuyu, ZENG Jiangfeng, AI Ning. Robust Adaptive Control for Nonlinear Path Tracking of Unmanned Surface Vehicles [J]. Acta Armamentarii, 2019, 40(12): 2519-2528.
[5]	ZENG Jiang-feng， WAN Lei， LI Yue-ming， ZHANG Ying-hao， ZHANG Zi-yang， CHEN Guo-fang. Switching-line-of-sight-guidance-based Robust Adaptive Path-following Control for Underactuated Unmanned Surface Vehicles [J]. Acta Armamentarii, 2018, 39(12): 2427-2437.