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This study analyzes the efficacy of path-following algorithms applying line-of-sight (LOS) principles, namely, proportional LOS, integral LOS, and adaptive LOS. Their performances are assessed using criteria such as the average along-track error, cross-track error, error area, and root mean square error when the algorithms are applied to unmanned surface vehicles (USV) subjected to ocean current disturbance. For this purpose, simulations are conducted for the USV to follow paths with several levels of maneuver difficulties and ocean current disturbances. The simulations utilize a six-degrees-of-freedom otter USV model. The results are examined to determine the vulnerabilities and advantages of each approach.

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Performance of Line-of-Sight-Based Path Following Algorithms for Unmanned Surface Vehicles Under Ocean Current Disturbance

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  • 发表日期：

    2026年

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  • Achmad,
  • Abdullah Alkaff

摘要

This study analyzes the efficacy of path-following algorithms applying line-of-sight (LOS) principles, namely, proportional LOS, integral LOS, and adaptive LOS. Their performances are assessed using criteria such as the average along-track error, cross-track error, error area, and root mean square error when the algorithms are applied to unmanned surface vehicles (USV) subjected to ocean current disturbance. For this purpose, simulations are conducted for the USV to follow paths with several levels of maneuver difficulties and ocean current disturbances. The simulations utilize a six-degrees-of-freedom otter USV model. The results are examined to determine the vulnerabilities and advantages of each approach.