无人水面艇自适应路径跟踪算法

路径跟踪作为无人水面艇（Unmanned Surface Vehicle, USV）控制系统中必不可少的底层模块，受到国内外无人水面艇研究人员的普遍关注。为了提高无人水面艇路径跟踪的准确性和自适应性，提出了一种基于Mamdani模型的自适应模糊LOS控制策略(Mamdani Based on Line-of-Sight，MLOS）。相比传统LOS控制策略，该算法通过模糊控制修正LOS控制参数，削减了速度与LOS制导律之间的耦合，确保了路线跟踪的完成度，并且避免了传统LOS各项参数固定、不能实时调整而导致的船舶操纵性无法被充分利用的缺点。基于欠驱动水面滑行艇数学模型，通过理论分析和仿真试验证明了该算法的优越性和有效性。

Adaptive Path Following Algorithm for Unmanned Surface Vehicle

As the most basic module of unmanned surface vehicle(USV) control system, path tracking has been widely concerned in the field of USV research. In order to improve the accuracy and self-adaptability of USV path following, an adaptive fuzzy LOS control strategy based on Mamdani model is proposed in this paper. Compared with the traditional LOS control strategy, this algorithm modifies the LOS control parameters through fuzzy control, reduces the coupling between the speed and the LOS guidance law, guarantees the completion of path following, and avoids the shortcoming of the fixed parameters of the traditional LOS, which cannot be adjusted in real time. Based on the mathematical model of underactuated hydroplaning craft, theoretical analysis and simulation experiment prove the superiority and effectiveness of the algorithm.