Guidance law design for synchronized path following of underactuated unmanned surface vehicles based on distributed observer

This paper presents a guidance law design for synchronized path following of multiple underactuated unmanned surface vehicles (USVs) without using a global reference velocity. Firstly, a distributed observer is proposed to eliminate the need of reference velocity known to all the vehicles. Secondly, a line-of-sight based guidance law is derived to force… CONTINUE READING