Event-triggered LOS Guidance for Path Following of an Unmanned Surface Vehicle over Wireless Network

This paper considers kinematic path-following of an under-actuated unmanned surface vehicle (USV) over wireless network. Based on a line-of-sight (LOS) principle, an event-triggered kinematic guidance law is designed to track a predefined path. In order to reduce the communication burden of wireless network, event-triggered mechanisms are introduced to determine the transmission schedules of the vehicle states and the designed commands. The closed-loop kinematic control system is proven to be input-to-state stable. Simulation results demonstrate the efficiency of the event-triggered LOS guidance method for an under-actuated surface vehicle.