Path Following of a Water-Jetted USV Based on Maneuverability Tests

Journal of Marine Science and Engineering

Shixuan Li¹  Junmin Mou²  Benren Zhang²  Yong Xiong²  Yangying He³ 

[1] Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA 90017, USA;Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan 430063, China;School of Navigation, Wuhan University of Technology, Wuhan 430063, China;

关键词: water-jetted USV;    maneuvering;    wireless network control platform;    model tests;    HSIC algorithm;    path following;   

DOI  :  10.3390/jmse8050354

来源: DOAJ

【 摘 要 】

Due to the high propulsive efficiency and better maneuverability under high speed, the water-jetted unmanned surface vehicle (USV) is widely studied and used. This paper presents complete maneuvering tests and control algorithm designed for a twin water-jetted USV model. Firstly, a wireless network control platform is established, and maneuvering tests, for instance, an inertia test, zig-zag test and turning test, are carried out to verify the maneuverability of the USV. In light of the complexity and uncertainty of ship sailing and ship handling, the Human Simulated Intelligent Control (HSIC) method is utilized to optimize the response time, accuracy and robustness of the controller. Finally, for the path following and track rectification part, a Line of Sight (LOS) algorithm is improved and proved practicable with triangle/square path tests. The proposed intelligent navigation algorithm specially designed for matching with the control methods, showing satisfactory improvements on the motion control and path following of the specific USV.

【 授权许可】

Unknown