Development status of the LOS guidance strategy and realization of the USV path tracking control

Aiming at the path tracking control of the underactuated USV in the horizontal, the LOS guidance strategy for USV path tracking control is studied in detail, which can be divided into two categories the LOS guidance strategy based on the encirclement and the look ahead distance. The advantages and disadvantages of the two algorithms are discussed. Next, the mathematical model of the USV in the three-degree-of-freedom is established. Then, based on the LOS guidance strategy of look ahead distance and output feedback control, the path tracking control algorithm is designed. The algorithm is based on the stabilization of heading angle, longitudinal velocity and position error to realize the straight and curve line path following of the underactuated USV. Finally, the simulation experiment proves that the path following control algorithm proposed in the paper has good dynamic performance and smaller steady-state error.