Improved Surge Speed Adaptive LOS Guidance Law in Current Disturbance Environment for USV
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Abstract
This work proposes a method for calculate the desired surge velocity integrated with an Adaptive Line of Sight, called Improved Surge Speed Adaptive LOS (ISS-ALOS), to enhance the path-following performance of USVs. This method utilizes ALOS guiding law to enable the USV to maintain the desired path regardless of disturbances. The proposed ISS-ALOS uses the path's curvature, cross-track error, and cross-track error rate to calculate the desired surge velocity. The method is applied to USV following a curved path with several bends and a rectangle path with sharp turns, to demonstrate with high reliability that the proposed method can direct the USV along the specified path with minimum cross-track error. Comparison with the latest guidance law available in publication is also presented to show the superiority of the proposed method.
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