2024年11月15日 · In this paper, we propose a novel tracking system named USV-Tracker, as depicted in Fig. 1, integrating these components into one unit. The system is validated through simulations and a compact USV prototype with standard sensors. The average target positioning error is sub-meter, significantly smaller than the target’s size.

In the complex USV trajectory tracking control task, the algorithm of reinforcement learning is utilized to adaptively adjust the state weight Q w and the prediction step N in the MPC algorithm to enhance the anti-disturbance ability of the controller, to …

A track control method based on a fuzzy control variable ship length ratio line-of-sight (LOS) algorithm and active disturbance rejection control (ADRC) algorithm is then realized on an autonomous controllable platform, and a lake test is carried out using a USV with dual propellers and dual rudders.</sec><sec> Results The simulation results ...

2020年11月15日 · As a method to improve the tracking effectiveness, this paper introduces the optimal motion controllers for the USV. Considering both the USV's maximum turn rate and its bearing standard deviation, the USV approaches the UT safely, while estimating the UT's location using coarse range-bearing measurements.

2024年9月24日 · 本文提出了一种专为水面调查和目标跟随等实际应用而设计的新型无人水面航行器 (USV) 跟随系统，USV-Tracker。 该系统解决了三个主要问题：感知稳健性、跟随遮蔽性和规划效率。

2023年8月2日 · This paper proposes a novel trajectory generation and tracking method for USV based on optimization theory. Specifically, the USV dynamic model is combined with differential flatness, so that the trajectory can be generated by dynamic RRT ∗ in a linear invariant system expression form under the objective of optimal boundary value.

In order to combat the wave disturbance that may occur when the unmanned surface vehicle（USV） tracks the path, this paper proposed a straight path following method based on variable ship length rate. At first, it established a mathematical model of the USV with two fixe...

2023年5月5日 · In marine magnetic detection, in order to improve the accuracy of the measurement data of the field, to consider the impact of the storm interference environment, and to design a weakly driven USV tracking control system, it is necessary to drive the USV in a complex marine environment to determine the accuracy and stability of tracking.

2023年3月17日 · For an underactuated unmanned surface vehicle (USV), time-varying external disturbances affect the accuracy of trajectory tracking. To ensure trajectory tracking accuracy, in this paper the reduced-order extended state observer (ESO) and the super-twisting second-order sliding mode controller are adopted.

2022年3月15日 · In this paper, a non-singular terminal sliding model (NTSM) controller is proposed for the trajectory tracking control of the underactuated USV, with a nonlinear disturbance observer which is designed to measure complex environmental disturbances such as wind, waves, and currents.