Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence

Path-Following and Obstacle-Avoidance Control of USV Based on Finite-Distance Convergence

The control problem of avoidance-path-following is a critical consideration in the research of unmanned surface vehicle (USV) navigation control, and it holds great significance for the navigation safety of USVs. A guidance and control scheme based on finite-distance convergence is proposed in this...

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Bibliographic Details
Main Authors: Junbao Wei, Jianqiang Zhang, Zhong Liu, Jianjing Qu, Bowen Sui, Yuanyuan Zhang
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Journal of Marine Science and Engineering
Subjects:
USV
path-following and obstacle avoidance
guidance and control
finite-distance convergence
adaptive velocity command
Online Access:https://www.mdpi.com/2077-1312/12/1/34

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