Efficient Path Following Algorithm for Unmanned Surface Vehicle

This paper presents the comparison and analysis of four common path following algorithms for the C-Enduro unmanned surface vehicle (USV), which is designed to operate at sea for extended periods of time (up to 3 months). Four path following algorithms were tested that include Carrot chasing path following, Nonlinear guidance law, Pure pursuit and line-of-sight (PLOS) path following and Vector field algorithms. The simulation was realized by implementing the 3 DOF dynamic model of C-Enduro USV. The simulation also took account of the environmental factors, i.e., wind and current. The accuracy and control effort of these four algorithms are compared and analyzed. The simulation results can be used to assist in deciding which path following algorithm the USV needs to implement in order to deal with different missions efficiently.