Unmanned vessel path tracking control based on LOS navigation algorithm
In order to solve the path tracking control issue of unmanned vessel,an adaptive path tracking control al-gorithm based on line-of sight(LOS)navigation algorithm and fuzzy PID control is proposed.Firstly,the path planning problem is transformed into a heading control problem according to the LOS algorithm.Then the heading control of un-manned vessel is carried out by fuzzy PID control algorithm.Simulation results show that the proposed algorithm has high path following accuracy,small lateral offset and smooth tracking path,which have some reference value for the path track-ing control of unmanned vessel.
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