unmanned_surface_vehicles_path_following_algorithms

Four path following algorithms, including Carros Chasing algorithm, Nonlinear Guidance Law, Vector Field algorithm and Pure Pursuit and LOS algorithm, are developed for unmanned surface vehicle to follow a path precisely. For more details, please refer to my paper: Efficient Path Following Algorithm for Unmanned

These algorithms are tested for following stright line or circle. For example, you can run PLOS_straight_line.m or PLOS_circle.m file to make the usv follow the pre-defined path.

Paper

If you use this code in your research, please cite our paper:

@inproceedings{niu2016efficient,
  title={Efficient path following algorithm for unmanned surface vehicle},
  author={Niu, Hanlin and Lu, Yu and Savvaris, Al and Tsourdos, Antonios},
  booktitle={OCEANS 2016-Shanghai},
  pages={1--7},
  year={2016},
  organization={IEEE}
}