Guidance scheme for paths without temporary restrictions using the Krick Felix model boat under the influence of sea currents

Abstract

The autonomous surface vehicles are composed of a guidance, navigation, and control systems where the first one plays an important role in missions without human intervention. This article presents the design of a guidance system made of an I-LOS controller, where its purpose is to achieve the convergence and the precise following of straight paths, regardless of the sea currents presence. The controller gains adjustment is performed according to the vehicle features and the geometry of the path to follow. The proposed guidance algorithm is assessed through simulation, obtaining favorable results.