학술논문
Formation Path Following of Multiple Underactuated Surface Vehicles in Presence of Unknown Environmental Forces
Document Type
Conference
Source
2024 28th International Conference on Information Technology (IT) Information Technology (IT), 2024 28th International Conference on. :1-4 Feb, 2024
Subject
Language
ISSN
2836-3744
Abstract
In this paper, we propose a cooperative guidance law for straight-line formation path-following of multiple USVs in the presence of ocean currents. In the proposed approach, the desired USV paths are synchronized using the distributed observer, while the KF-based LOS guidance laws and nonlinear velocity laws are used to minimize the path-following errors and compensate for the sideslip. The effectiveness of the proposed approach is verified by numerical simulations.