Design of Guidance Law for Docking of Unmanned Surface Vehicle

무인선의 도킹을 위한 유도법칙 설계

  • Received : 2016.03.15
  • Accepted : 2016.06.24
  • Published : 2016.06.30


This paper proposes a potential field-based guidance law for docking a USV (unmanned surface vehicle). In most cases, a USV without side thrusters is an under-actuated system. Thus, there are undockable regions near docking stations where a USV cannot dock to a docking station without causing a collision or backward motion. This paper suggest a guidance law that prevents a USV from enter such a region by decreasing the lateral error to the docking station at the initial stage of the docking process. A Monte-carlo simulation was performed to validate the performance of the proposed method. The proposed method was compared to conventional guidance laws such as pure pursuit guidance and pure/lead pursuit guidance. As a result, the collision angle and lateral distance error of proposed method tended to have lower values compared to conventional methods.


Docking;Auto berthing;Guidance law;Unmanned Surface Vehicle


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