Autonomous Berthing of Unmanned Surface Vehicles Based on Improved Dubins-RRT Algorithm and Non-Singular Terminal Sliding Mode Control

Autonomous berthing is the last step to achieving autonomous operation of unmanned surface vehicles (USVs). Due significant disturbance wind, waves, and currents uncertainties model, it difficult realize berthing. For case obstacles dynamics USVs, transformed into three steps including path planning, tracking, motion control USVs in paper. A new advanced Dubins-RRT algorithm proposed for which improves capacity obstacle avoidance smoothness level. virtual target guidance method used guide track planned path. In addition, a finite-time observer non-singular terminal sliding mode controller are designed USVs. Observing estimating uncertainty terms model can ensure convergence tracking error finite time. Finally, feasibility verified through simulation experimentation.