GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO
No
Rev. Iberoam. Autom. Inform. Ind.
Article
Científica
01/01/2025
001525039900003
2-s2.0-105002426202
This article presents the integration and experimental validation of a line-of-sight guidance law with state estimation on autonomous surface vehicles (ASVs), whose increasing use in maritime environments demands advanced solutions. The research focuses on path following, a commonly employed method without time constraints that allows precise convergence to the desired parameterized path. The proposed control scheme integrates a non-linear state observer and a PID speed controller. Various statistical metrics verify that the experimental results of the controller, implemented on a real ASV (Yellowfish), keep tracking errors within acceptable thresholds. Although there are challenges regarding vehicle dynamics and the impact of disturbances, the tracking control demonstrated stability and robustness. Future improvements are suggested, such as incorporating a more robust speed controller and using disturbance estimates to enhance the controller performance. © 2025 Universidad Politecnica de Valencia. All rights reserved.
Automatic guided vehicles; Autonomous underwater vehicles; Autonomous vehicles; Electronic guidance systems; Proportional control systems; Robust control; Robustness (control systems); State estimation; Three term control systems; Unmanned surface vehicles; Autonomous surface vehicles; Control architecture; Control architecture in marine system; Guidance and control; Marine system navigation guidance and control; Marine systems; Navigation controls; Navigation guidance; Nonlinear and optimal marine system control; Sensors and actuators; System control; Marine navigation