Multi-Target Point Path Planning and Tracking of Unmanned Surface Vehicle Using SFLOS Algorithm and Incremental PID Control With Crane-Assisted

To enhance the multi-target path planning and tracking performance of Unmanned Surface Vehicles (USVs), a combined control strategy integrating the Serret-Frenet Line-of-Sight (SFLOS) algorithm and an incremental PID controller is proposed to achieve precise path tracking in complex environments. Ad...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Xiangyang Cao, Yaojie Zheng, Hanbin Xiao, Min Xiao
Format:	Article
Language:	English
Published:	IEEE 2025-01-01
Subjects:	Unmanned surface vehicle (USV) multi-target point paths Serret-Frenet line of sight (SFLOS) incremental PID control particle swarm optimization (PSO) algorithm
Online Access:	https://ieeexplore.ieee.org/document/10916642/