ALOS-Based USV Path-Following Control with Obstacle Avoidance Strategy

Path following and obstacle avoidances are used in heading control path replanning for unmanned surface vessels (USVs), which have attracted the interest of many researchers over years. This paper investigates path-following avoidance problems USVs. First, on basis current position desired path, an adaptive line-of-sight (ALOS) algorithm is to obtain angle, sideslip angle compensation considered. Then, ensure that USV follows path. Model predictive (MPC) reduce lateral error. The event-triggered mechanism (ETM) strategy utilized computational cost MPC. Moreover, accurate state quantities real time, a linear extended observer (LESO) counteract effects external disturbances nonlinear term model. Furthermore, improved based geometric relationship proposed. method can better navigation safety consumption computation. Lastly, multiple simulation experiments illustrate improves capability security ensures smooth input changes by setting constraints. Therefore, designed controller has feasibility robustness.