Efficient Trajectory Planning and Control for USV with Vessel Dynamics and Differential Flatness
Efficient Trajectory Planning and Control for USV with Vessel Dynamics and Differential Flatness
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical technologies. This paper proposes a novel trajectory generation and tracking method for USV based on optimization theory. Specifically, …