Safety-Certificated Line-of-Sight Guidance of Unmanned Surface Vehicles for Straight-Line Following in a Constrained Water Region Subject to Ocean Currents

• Published in: Journal of marine science and application Vol. 22; no. 3; pp. 602 - 613
• Main Authors: Peng, Zhouhua, Li, Jianzhong, Han, Bing, Gu, Nan
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01.09.2023; Springer Nature B.V; National Engineering Research Center of Ship & Shipping Control System,Shanghai 200135,China; Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships,Dalian 116026,China%Shanghai Ship and Shipping Research Institute Co.Ltd.,Shanghai 200135,China; School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China
• Subjects: Collision avoidance; Constraints; Electrical Machines and Networks; Engineering; Geotechnical Engineering & Applied Earth Sciences; Guidance (motion); Line of sight; Machinery and Machine Elements; Moving obstacles; Ocean currents; Offshore Engineering; Power Electronics; Quadratic programming; Research Article; Safety; State observers; Surface vehicles; Unmanned vehicles; Waterways; Yaw; Yawing; Constrained water region; Unmanned surface vehicle; Extended state observer; Line-of-sight guidance; Control barrier function

The collision-free straight-line following of an unmanned surface vehicle (USV) moving in a constrained water region subject to stationary and moving obstacles is addressed in this paper. USV systems are normally subjected to surge velocity constraints, yaw rate constraints, and unknown ocean curren...