Research on Target Tracking System of Unmanned Surface Vehicle Based on Hierarchical Control Strategy

Target tracking is an important problem for an unmanned surface vehicle (USV) to achieve intelligent navigation on the water. Aiming at the dynamic target tracking problem in practical applications, a novel hierarchical-control-strategy-based tracking system is proposed in this paper. Firstly, the target tracking problem is defined and described, and a relative motion model between USV and the target ship is established. Secondly, by using a hierarchical control frame, an error-based guidance strategy for target tracking and a PSO-based controller are proposed respectively. Based on the hierarchical strategy, a USV target tracking system is established, the effectiveness and stability of which are verified by simulations and experiments.