基于视线导引策略的无人艇航迹跟踪控制算法

为实现复杂海洋环境下无人艇对期望航迹的精确跟踪和安全航行控制问题，对目前用于无人艇航迹跟踪控制的视线导引策略进行了详细研究，可分为基于前视距离的视线导引策略和基于包围圈的视线导引策略两大类，并分析了两类算法各自的优缺点。建立无人艇数学模型，基于前视距离的视线制导策略和PID控制思想设计无人艇航迹跟踪控制算法。仿真实验结果表明：所提算法具有良好的航迹跟踪控制效果，可为现阶段我国无人艇自主航行控制技术的研究和无人艇装备建设提供参考。

USV Trajectory Tracking Control Algorithm of Based on the Line-of-sight Guidance Strategy

To realize the precise tracking and safe navigation control of the unmanned surface vehicle (USV) in the complex ocean environment, firstly, the line-of-sight (LOS) guidance strategy used in USV trajectory tracking control is studied in detail, and the algorithms are divided into two categories: LOS guidance strategy based on look-ahead distance and on encircling circle. Then, the mathematical model of the USV is built, and the USV trajectory tracking control algorithm is designed based on the LOS guidance strategy using the look-ahead distance and the PID control idea. Finally, the simulation results show that the proposed algorithm has good trajectory tracking control effects, which can provide insights into research on the autonomous navigation control technology and the construction of the USV equipment in China.