Autopilot Design for Unmanned Surface Vehicle Tracking Control

With development of intelligence technology, people applied all kinds of intelligent algorithms in ship tracking control. Unmanned surface vehicle (USV) raised less attention due to flexible features more complicated motion system and constantly changing according to the environment. In this work, based on previous achievements, a mathematic model of USV and the corresponding Simulink modules are established and then, Line of sight guidance (LOS) scheme is introduced to implement the feasibility of the ship´s tracking control. Finally in Matlab, experimental simulations are conducted, which verify performance and accuracy of the proposed methodology.