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CSME 2023/12
Volume 44 No.6
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573-581
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An Innovative Approach to Nonlinear Guidance Law for Path Following of Unmanned Surface Vehicle
Osman Ünala, Nuri Akkaşa and Gökhan Atalıb
aSakarya University of Applied Sciences, Department of Mechanical Engineering, Sakarya, Turkey.
bSakarya University of Applied Sciences, Department of Mechatronic Engineering, Sakarya, Turkey.
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Abstract:
This study proposes an innovative approach to nonlinear guidance law based path following algorithm. To the best of our knowledge, we are the first to integrate the simulated annealing optimization technique with nonlinear guidance law for path following of USVs (Unmanned Surface Vehicles). The purpose of this paper is to minimize cross tracking errors using this novel method. In contrast to previous studies related to nonlinear guidance law, the presented new algorithm uses circles with variable radius. The radius of adjustable circles is optimized using simulated annealing method in each time step. This study concludes that cross tracking errors are significantly reduced owing to optimized radius compared to conventional nonlinear guidance law.
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Keywords: path following, nonlinear guidance law, simulated annealing.
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*Corresponding author; e-mail:
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©
2023
CSME , ISSN 0257-9731
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