The focus of this paper is to develop a methodology that enables an unmanned surface vehicle (USV) to efficiently track a planned path. The introduction of a vector field-based adaptive line-of-sight guidance law (VFALOS) for accurate trajectory tracking and minimizing the overshoot response time during USV tracking of curved paths improves the overall line-of-sight (LOS) guidance method. These improvements contribute to faster convergence to the desired path, reduce oscillations, and can mitigate the effects of persistent external disturbances. It is shown that the proposed guidance law exhibits k-exponential stability when converging to the desired path consisting of straight and curved lines. The results in the paper show that the proposed method effectively improves the accuracy of the USV tracking the desired path while ensuring the safety of the USV work.

翻译：本文旨在开发一种方法，使无人水面艇（USV）能够高效跟踪规划路径。通过引入基于向量场的自适应视线制导律（VFALOS），实现精确轨迹跟踪并最小化USV在曲线路径跟踪过程中的超调响应时间，从而改进了整体视线（LOS）制导方法。这些改进有助于更快收敛至期望路径、减少振荡，并能缓解持续外部干扰的影响。研究表明，所提出的制导律在收敛至由直线和曲线组成的期望路径时具有k指数稳定性。文中结果表明，该方法在保证USV作业安全的同时，有效提高了跟踪期望路径的精度。