Design and Verification of Unmanned Surface Vehicle's Autopilot Based on Integral Line of Sight Guidance

Unmanned Surface Vehicle (USV), with its intelligence and miniaturization advantages, has gradually become a research hotspot internationally, which has the stability of operation under certain adverse conditions and can carry out a wide range of marine scientific research equipment and to be a platform of engineering projects for autonomous operation. Course tracking control is the key to realize the autonomous operation of USV marine operations. The actual navigation of the working conditions is complex and changeable, which cannot avoid the existence of wind, waves, currents and other non-linear and complex external disturbances. These complex external disturbances will lead USV to produce a drift angle, affecting the control of the trajectory. The aim of this paper is to enhance the efficiency, accuracy, and stability of autonomous navigation tasks and solve the drift angle problem of USV at the same time by employing integral line-of-sight guidance algorithms and classical PID controllers in the bottom motion control.