Abstract
This paper presents a quantitative comparison between two popular guidance laws for straight line path-following purposes of autonomous marine vehicles: the integral line-of-sight (ILOS) guidance law and the vector field (VF) guidance law. The comparison is based on experimental results and the cross track error measurements as well as the servo command signals are considered in the analysis. Both the guidance schemes are applied to the underactuated LAUV vehicle in the same environmental conditions with the same speed and heading controllers. The comparison separates between transient and steady-state behaviour, with focus on the latter. In particular, the cross-track error transfer functions for small time varying disturbances are derived for the two guidance schemes at equilibrium and similarities are found with the experimental results. The analysis concludes good path following performance for both the VF and the ILOS guidance laws, with the VF controller performing slightly better. However, the VF guidance scheme suffers from significant chattering on the horizontal rudders while the ILOS guidance law gives very smooth servo commands.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
