Dear Editor,Underactuated autonomous surface vessels(ASVs)are increasingly attracting attention from researchers because of a wide range of applications[1].Consequently,path following,a typical functionality for ASVs,...Dear Editor,Underactuated autonomous surface vessels(ASVs)are increasingly attracting attention from researchers because of a wide range of applications[1].Consequently,path following,a typical functionality for ASVs,has become a research focus[2].Despite the abundant study results,some challenging issues are still worthy of exploration and resolution,two of which are addressed in this letter.The first one is related to the guidance law.Currently,common guidance methods in the ASV field include the line-of-sight(LOS)guidance[3]and vector field(VF)guidance[4].The response quality of LOS guidance is highly related to the lookahead distance;a constant lookahead distance may result in undesired phenomena such as the singularity problem and the reduction of trajectory smoothness of ASVs(see[5]).To this end,several works have proposed modified LOS guidance laws(see[6]).Although the above modifications,as pointed out by[7],the VF guidance exhibits smaller crosstrack errors and better performances than the LOS guidance.However,the existing VF guidance is only available for straight lines and orbits rather than curved paths,a considerable obstacle that limits its practical application(see[8],[9]).Thus,the VF guidance for curved path following deserves more in-depth study.展开更多
基金supported by the National Natural Science Foundation of China(62473243,62421004)the Fundamental Research Funds for the Provincial Universities(3072024 GH0404)+1 种基金the Key Research and Development Projects in Hainan Province(ZDYF2024GXJS009)the“Spring Wild Goose”Plan Project of Heilongjiang Province(CYQN24071).
文摘Dear Editor,Underactuated autonomous surface vessels(ASVs)are increasingly attracting attention from researchers because of a wide range of applications[1].Consequently,path following,a typical functionality for ASVs,has become a research focus[2].Despite the abundant study results,some challenging issues are still worthy of exploration and resolution,two of which are addressed in this letter.The first one is related to the guidance law.Currently,common guidance methods in the ASV field include the line-of-sight(LOS)guidance[3]and vector field(VF)guidance[4].The response quality of LOS guidance is highly related to the lookahead distance;a constant lookahead distance may result in undesired phenomena such as the singularity problem and the reduction of trajectory smoothness of ASVs(see[5]).To this end,several works have proposed modified LOS guidance laws(see[6]).Although the above modifications,as pointed out by[7],the VF guidance exhibits smaller crosstrack errors and better performances than the LOS guidance.However,the existing VF guidance is only available for straight lines and orbits rather than curved paths,a considerable obstacle that limits its practical application(see[8],[9]).Thus,the VF guidance for curved path following deserves more in-depth study.
