Path-following algorithms and experiments for an unmanned surface vehicle
نویسندگان
چکیده
منابع مشابه
Path-following algorithms and experiments for an unmanned surface vehicle
This paper addresses the problem of path-following in two-dimensional space for underactuated unmanned surface vehicles (USVs), defining a set of guidance laws at kinematic level. The proposed nonlinear Lyapunov-based control law yields convergence of the path following error coordinates to zero. Furthermore, the introduction of a virtual controlled degree of freedom for the target to be follow...
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ژورنال
عنوان ژورنال: Journal of Field Robotics
سال: 2009
ISSN: 1556-4959,1556-4967
DOI: 10.1002/rob.20303