Abstract:This study proposes a stable and robust path following algorithm for Unmanned Surface Vehicles (USVs). The main objective of this paper is to optimize a key parameter in the improved algorithm to minimize tracking errors. In this study, firstly a stability criterion is developed to limit this parameter and make stable navigation. This model determines the unique target points for each time step using the optimum and flexible parameter in contrast fixed value used in previous studies. The proposed stability cri… Show more
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