Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances

Mu, Dongdong; Wang, Guofeng; Fan, Yunsheng; Bai, Ye; Zhao, Yongsheng

doi:10.1155/2018/7512606

Cited by 22 publications

(21 citation statements)

References 40 publications

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“…Small look-ahead distance corresponds to fast convergence to the path, but with a large overshoot [20]. An ALOS method considering a lateral error to solve the above problems is derived in [21,22]. Simulation results show the effectiveness of this method, so that it is widely used in the research of path following.…”

Section: Literature Reviewmentioning

confidence: 98%

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3DOF Adaptive Line-Of-Sight Based Proportional Guidance Law for Path Following of AUV in the Presence of Ocean Currents

et al. 2019

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In order to achieve high-precision path following of autonomous underwater vehicle (AUV) in the horizontal plane, a three degrees-of-freedom adaptive line-of-sight based proportional (3DOFAPLOS) guidance law is proposed. Firstly, the path point coordinate system is introduced, which is suitable for the conversion of an arbitrary path. Then, the appropriate look-ahead distance is obtained by an improved adaptive line-of-sight (ALOS) according to three degrees-of-freedom (3DOF), including the cross-track error, the curvature of reference path, and the forward speed. Moreover, combining three degrees-of-freedom ALOS (3DOFALOS) with proportional guidance law, the desired heading is calculated considering the drift angle. 3DOFAPLOS has two functions: in the convergence stage, 3DOFALOS plays a leading role, making AUV converge to the path more quickly and smoothly. In the guidance stage, proportional guidance law plays a major role in effectively resisting the influence of drift angle and making AUV sail along the reference path. If the path is curved, 3DOFALOS makes contributions in both stages, adjusting look-ahead distance in real time with respect to curvature. The stability of the designed closed system is proved by Lyapunov theory. Both simulation and experiment results have verified that 3DOFAPLOS has a satisfactory result, which improves tracking performance more than 50% compared with the traditional line-of-sight (LOS). Specifically, the mean average error (MAE) of path following under 3DOFAPLOS can be reduced by about 60%, and the root mean square error (RMSE) can be reduced by about 50% compared with LOS.

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Section: Literature Reviewmentioning

confidence: 98%

“…The inverse proportional function (L (u) = 1/u) is constructed to describe the relationship between look-ahead distance and the forward speed. The results are described in Equation (22). Suppose the adjustment range of the look-ahead distance is 10-15 m at a certain moment.…”

Section: Dof Adaptive Look-ahead Distancementioning

confidence: 99%

3DOF Adaptive Line-Of-Sight Based Proportional Guidance Law for Path Following of AUV in the Presence of Ocean Currents

et al. 2019

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“…A guidance law for ALOS is proposed to establish the straight and curve paths via the Fuzzy Logic optimization algorithm. For example, Mu et al [25] introduced a fuzzy logic optimization in the ALOS to optimize the velocity or heading value between the path. Based on the simulation and theoretical analysis, the effectiveness and correctness are shown in the whole path following strategy.…”

Section: Line Of Sight Guidancementioning

confidence: 99%

Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review

2021

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An excellent navigation, guidance, and control (NGC) system had a high impact on trajectory tracking and the following scenarios. Both scenarios will include the heading, tangent, and velocity parameters in the computation. However, the control system design problem is not a new issue in the unmanned surface vehicle (USV) and autonomous ground vehivle (AGV) due to this constraint faced by many researchers since early these autonomy developments. Hence, this paper listed and emphasizing the techniques, including techniques implementation, strength, and the algorithm's constraints, a fusion of several techniques implemented for vehicle's stability, a turning ahead, and heading estimation. This paper concerns the similar algorithm used in the USV and AGV. Most of the selected techniques are basic algorithms and have been frequently implemented to control both vehicles' systems. Previous research shows pure pursuit guidance is the most popular technique in AGV to control the degree-of-freedom (DOF) velocity and the dynamic rate (sway, surge, and yaw). Simultaneously, the line of sight (LOS) controller is very compatible with controlling the movement of the USV. In conclusion, the technique's simulation test needs further research that will expose in the actual situation.

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“…Maritime search path planning is essentially a problem of coverage path planning (CPP) [14,15]. e traditional method is to use parallel line method, extended square method, and other regular search paths in the search area for full coverage search.…”

Section: Introductionmentioning

confidence: 99%

Search Path Planning Algorithm Based on the Probability of Containment Model

Ren

Liu

Cui

et al. 2021

Mathematical Problems in Engineering

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The location of distress object in the maritime search area is difficult to determine, which has brought great difficulties to the search path planning. Aiming at this problem, a search path planning algorithm based on the probability of containment (POC) model for a distress object is proposed. This algorithm divides the area to be searched into several subareas by grid method and dynamically evaluates the POC of the distress object in each subarea using the Monte Carlo random particle method to build the POC model. On this basis, the POC is dynamically updated by employing the Bayes criterion within the constraint of the time window. Then, the sum of the POC of the object in the subareas is regarded as the weight of the search path. And the proposed algorithm dynamically executes the search path planning according to the maximum path weight. In comparison with the parallel line search path planning algorithm given in the “International Aeronautical and Maritime Search and Rescue Manual,” the simulation results show that the search path planning algorithm based on the POC model of the distress object can effectively improve the search efficiency and the probability of search success of the distress object.

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Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances

Cited by 22 publications

References 40 publications

3DOF Adaptive Line-Of-Sight Based Proportional Guidance Law for Path Following of AUV in the Presence of Ocean Currents

3DOF Adaptive Line-Of-Sight Based Proportional Guidance Law for Path Following of AUV in the Presence of Ocean Currents

Navigation and motion control techniques for surface unmanned vehicle and autonomous ground vehicle: a review

Search Path Planning Algorithm Based on the Probability of Containment Model

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