Driving Path Tracking Control of Unmanned Ships Based on LOS+PID
To improve the accuracy of driving path tracking control for unmanned ships,a tracking control method based on im-proved line of sight(LOS)algorithm and the improved proportional-integral-derivative(PID)control is proposed.The method uses particle swarm optimization(PSO)algorithm to optimize PID controller for tracking the direction of unmanned ships,and uses adaptive acceptance circle improved LOS algorithm to track the trajectory of unmanned ships,achieving driving path track-ing control of unmanned ships.The simulation results show that the proposed method has an average rudder angle,average er-ror,and average speed of 0.40°,12.36 m,and 1.84 m/s,respectively,in the presence of interference.In the absence of inter-ference,the average rudder angle,average error,and average speed are 0.17°,5.22 m,and 1.06 m/s,respectively,with good tracking control accuracy and speed.