Vehicle guidance and control along circular trajectories
Simakis, Dimitrios A.
Papoulias, Fotis A.
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The problem of path keeping of marine vehicles along curved paths is considered. In particular, we are concerned with circular arcs that join two consecutive straight line segments. This provides smooth path changes between one segment and the next utilizing a purely geometric reference path construction. Pure pursuit guidance is coupled with orientation angle control law to ensure stability and accuracy. Sensitivity analysis with respect to inaccuracies in the knowledge of the vehicle hydrodynamic characteristics is performed. The results demonstrate the validity of this approach and offer a way to achieve accurate path keeping in confined spaces.
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