Adaptive Line-of-Sight Guidance Algorithm and System Design for Unmanned Surface Vehicle Path Tracking

This paper studies the algorithm design, system design and experimental verification of unmanned surface vehicle path tracking. Firstly, a path tracking control algorithm for unmanned surface vehicles combining adaptive LOS line-of-sight guidance method and fuzzy PID method was proposed. Then, the unmanned surface vehicles shore-based host computer system and the ship-borne control system were built, which were written in a multi-threaded frame structure. Finally, the adaptive fuzzy control algorithm for unmanned surface vehicles path tracking proposed in this paper has good control effect through real boat experiments on the lake, and the designed software and hardware system has strong real-time performance, and the stability and accuracy of unmanned surface vehicle path tracking can be improved.