Multi-target Waypoint Tracking Control System Based on Small Unmanned Ship
SUN Xiaoxu
WANG Xiaoyuan
WANG Quanzheng
WANG Zefan
YANG Wenzheng
YU Qingzhou
Abstract：With the continuous improvement of the automation requirements of unmanned vehicles,it is of great theoretical significance and practical value to study the navigation between multi-objective points of underactuated unmanned vehicles.Accord-ing to the characteristics of the underactuated unmanned ship,the LOS guidance algorithm is used to determine the desired path of the unmanned ship,and the PID algorithm is used to control the speed and heading of the unmanned ship,so that the unmanned ship stays on the predetermined path.Through the navigation test experiment completed in the artificial lake of Qingdao University of Science and Technology,the effectiveness and stability of the method are verified,the safety of ship navigation is improved,and the theoretical and experimental foundation is laid for the further development of unmanned ship control.
Keywords：small unmanned shippath followingLOS guidancePID control
Publication Date：2025-08-20
Online Publishing Date：2025-12-12(First online date of this platform, not the publication date of the document)
Pages：5( 64-68 )