Published March 21, 2024
| Version v1
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Formation Path Following of Multiple Underactuated Surface Vehicles in Presence of Unknown Environmental Forces
Description
In this paper, we propose a cooperative guidance law for straight-line formation path-following of multiple USVs in the presence of ocean currents. In the proposed approach, the desired USV paths are synchronized using the distributed observer, while the KF-based LOS guidance laws and nonlinear velocity laws are used to minimize the path-following errors and compensate for the sideslip. The effectiveness of the proposed approach is verified by numerical simulations.
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46_Otasevic_Formation_zenodo.pdf
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