Abstract

In this paper, an integrated navigation, guidance and control system of an unmanned surface vehicle (USV) is implemented. Main contributions are as follows: 1) Aiming to obtain precise heading estimation, Kalman filter technique that can combine predictions from designed model with actual sensor measurements is adopted in navigation system; 2) The line-of-sight (LOS) with a time-varying lookahead distance is employed in guidance system. Remarkably, a novel arc transition strategy is proposed such that the vehicle can turn around smoothly when completing the way-point guidance mission; 3) In addition, strong robustness to dynamic characteristics is enhanced by employing a fuzzy PID controller. Finally, simulation studies and field experiments demonstrate remarkable performance of the integrated USV system.

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