Details

Autor(en) / Beteiligte

• Zecevic, Zarko
• Martinovic, Luka
• Asanin, Lazar
• Bibuli, Marco
• Ferretti, Roberta
• Odetti, Angelo
• Aracri, Simona
• Caccia, Massimo

Titel

KF-based LOS Guidance Law for Path Following of USV: Experiments and Performance Evaluation

Ist Teil von

• 2024 28th International Conference on Information Technology (IT), 2024, p.1-4

Ort / Verlag

IEEE

Erscheinungsjahr

2024

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• In this paper, we present the experimental results of the recently proposed Kalman filter-based line-of-sight (KF-based LOS) path-following algorithm tailored for Unmanned Surface Vehicles (USVs), addressing a known challenge where traditional LOS methods lack robustness against external disturbances leading to sideslip and tracking errors. A series of experiments focusing on straight-line following has been conducted, with all data systematically recorded for further analysis. The vehicle's performance is quantitatively assessed through well-known performance indices. The results demonstrate that the KF-based LOS method effectively compensates for sideslip, enabling a USV to accurately follow a straight line.