Autonomous Berthing of Unmanned Surface Vehicles Based on Improved Dubins-RRT Algorithm and Non-singular Terminal Sliding Mode Control
Autonomous berthing is the last step to achieving the autonomous operation of unmanned surface vehicles (USVs). Due to the significant disturbance of wind, waves, and currents and the uncertainties of the model, it is difficult to realize autonomous berthing. For the case of obstacles and dynamics o...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2023
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| Subjects: | |
| Online Access: | View Fulltext in Publisher View in Scopus |