A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance
Surface target salvage is a crucial component of marine emergencies. Although unmanned surface vehicles (USVs) have emerged as effective alternative platforms to traditional artificial salvage, salvage target tracking remains a challenging issue. Therefore, this paper proposes a salvage target track...
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| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/6/1158 |
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| author | Jiahe Liu Chao Liu Mingmei Wen Yang Wang Jinzhe Wang Rencheng Zheng |
| author_facet | Jiahe Liu Chao Liu Mingmei Wen Yang Wang Jinzhe Wang Rencheng Zheng |
| author_sort | Jiahe Liu |
| collection | DOAJ |
| description | Surface target salvage is a crucial component of marine emergencies. Although unmanned surface vehicles (USVs) have emerged as effective alternative platforms to traditional artificial salvage, salvage target tracking remains a challenging issue. Therefore, this paper proposes a salvage target tracking (STT) algorithm which enables rapid approach (RA) to the salvage target, while maintaining an appropriate salvage distance that keeps the surface target within the operational range in the terminal tracking (TT) phase. In the RA phase, the model predictive line-of-sight (PLOS) guidance algorithm is proposed to estimate and compensate for the drift angle encountered when following a curved path. In the TT phase, a guidance algorithm based on the key point is proposed to track the salvage target. To achieve the goals in the RA phase and the TT phase, a heading and speed controller based on proportional–integral–derivative control is proposed to track the desired signals computed by the PLOS and key point guidance algorithms. To verify the effectiveness of the STT algorithm, simulation analysis is conducted for the PLOS guidance algorithm and key point guidance algorithm. The simulation results show that the proposed PLOS guidance algorithm has the lowest cross-tracking error compared with the traditional LOS, integral LOS, and adaptive error constraint LOS. Moreover, the distance between the USV and the salvage target is less than the operating radius of the salvage operation. The results demonstrate that the proposed STT algorithm is capable of maintaining the appropriate salvage distance while tracking the salvage target. |
| format | Article |
| id | doaj-art-b74564cd2b8047729ef06695c86cbb5e |
| institution | DOAJ |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-b74564cd2b8047729ef06695c86cbb5e2025-08-20T03:16:32ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-06-01136115810.3390/jmse13061158A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point GuidanceJiahe Liu0Chao Liu1Mingmei Wen2Yang Wang3Jinzhe Wang4Rencheng Zheng5School of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Dalian University of Technology, Dalian 116024, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSchool of Mechanical Engineering, Tianjin University, Tianjin 300354, ChinaSurface target salvage is a crucial component of marine emergencies. Although unmanned surface vehicles (USVs) have emerged as effective alternative platforms to traditional artificial salvage, salvage target tracking remains a challenging issue. Therefore, this paper proposes a salvage target tracking (STT) algorithm which enables rapid approach (RA) to the salvage target, while maintaining an appropriate salvage distance that keeps the surface target within the operational range in the terminal tracking (TT) phase. In the RA phase, the model predictive line-of-sight (PLOS) guidance algorithm is proposed to estimate and compensate for the drift angle encountered when following a curved path. In the TT phase, a guidance algorithm based on the key point is proposed to track the salvage target. To achieve the goals in the RA phase and the TT phase, a heading and speed controller based on proportional–integral–derivative control is proposed to track the desired signals computed by the PLOS and key point guidance algorithms. To verify the effectiveness of the STT algorithm, simulation analysis is conducted for the PLOS guidance algorithm and key point guidance algorithm. The simulation results show that the proposed PLOS guidance algorithm has the lowest cross-tracking error compared with the traditional LOS, integral LOS, and adaptive error constraint LOS. Moreover, the distance between the USV and the salvage target is less than the operating radius of the salvage operation. The results demonstrate that the proposed STT algorithm is capable of maintaining the appropriate salvage distance while tracking the salvage target.https://www.mdpi.com/2077-1312/13/6/1158salvage target trackingline-of-sight guidance algorithmpath followingmodel predictionkey point guidance algorithm |
| spellingShingle | Jiahe Liu Chao Liu Mingmei Wen Yang Wang Jinzhe Wang Rencheng Zheng A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance Journal of Marine Science and Engineering salvage target tracking line-of-sight guidance algorithm path following model prediction key point guidance algorithm |
| title | A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance |
| title_full | A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance |
| title_fullStr | A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance |
| title_full_unstemmed | A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance |
| title_short | A Salvage Target Tracking Algorithm for Unmanned Surface Vehicles Combining Improved Line-of-Sight and Key Point Guidance |
| title_sort | salvage target tracking algorithm for unmanned surface vehicles combining improved line of sight and key point guidance |
| topic | salvage target tracking line-of-sight guidance algorithm path following model prediction key point guidance algorithm |
| url | https://www.mdpi.com/2077-1312/13/6/1158 |
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